Mobile Robot Control 2021 Group 6

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Group Members

Stefan van der Palen - 1501054

Paul Munns - 1522795

Saray Bakker - 1002248

Liang Oei - 1522779

Boudewijn Kempers - 1398164

Walter MacAulay - 1632817

Design Document

The Design Document: media:MRC_Design_Document_Group6.pdf

Escape Room Competition

For the Escape room competition two version where build, a smarter robot and a back-up version where the robot follows the wall. For both cases a 20 Hz execution rate is used.

The general structure of the smarter robot is given below. First, an initial scan is performed to find the entrance of the hallway. If an entrance is found, PICO will receive a point where it can move towards via the states 'Move entrance rotation' and 'Move entrance forward'. How the exit is determined is explained in the section 'Line segments and entrance detection'. If no entrance is detected, PICO will perform a partial rotation of 30 degrees and start scanning again for an exit. When no entrance is found after performing a full scan of the room, it is likely that the entrance is not visible from the current position of the robot. In the state 'No entrance - move to free space', PICO will move forward towards a new spot and try to locate the entrance at the new position.

If an entrance is detected, PICO will rotate until it faces the entrance and move forward. Since it should be taken into account that PICO might indicate an exit where there is none, an evaluation is performed after a few steps. If the entrance is still in front of the robot, PICO keeps moving forward. If the entrance is not directly in front of PICO due to drift, a rotation is performed before moving forward again. It could be possible that a false exit was detected before or PICO has drifted too much to still find the exit. Then a new full room scan is performed.

PICO should avoid running into obstacles including static and dynamic objects. Therefore a function is designed that maintains a certain distance from all obstacles which is called 'bubbleRobot'. When PICO is too close to an obstacle, it will stop and move in the opposite direction. To avoid running into the obstacle again, the movement away from the obstacle is more than the distance to leave the bubble. When the robot has moved away from the obstacle, it will reevaluate its position.

Chart escape room.PNG


Line Segmentation

Line detection from data points is a fundamental task in many fields of science and engineering. In this case, the data points are acquired via a laser range finder (LRF).

Pico coordinates.png

Entrance Detection

Laser data can be quite noisy, which can result in a false detection of the entrance when just using one scan as input. Therefore a few scans after each other are performed. The median of the estimated angle and distance towards the entrance is used to plan the motion.

Hospital Competition