Mobile Robot Control 2023 HAL-9000

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Group members:

Name student ID
Xingyi Li 1820443
Alexander De Pauw 1877267
Timo van Gerwen 1321854
Yuzhou Nie 1863428
Ronghui Li 1707183
Guglielmo Morselli 1959301

Design Presentation:

https://cstwiki.wtb.tue.nl/wiki/File:Midterm_presentation.pdf

Tasks Divide:

https://tuenl-my.sharepoint.com/:w:/g/personal/t_j_v_gerwen_student_tue_nl/Ed5lBdgRwbxJu6reNUPae_cBfdC4LFs7wqVHB2AO7BHAbQ?e=IqaDpJ

Data-flow Diagram& State Diagram:

Data-flow Diagram.png

Towards Final Challenge

Introduction (Ronghui)

// introduction of challenge


Strategy (Timo)

// What do we aim for and how do we want to do it

// Table sequence


Algorithms

// algorithms used for the separate blocks

Global path planning - A* (Alex)

// A* algorithm


Local path planning - Artificial Potential Field (Xingyi & Guglielmo)

// APF


Localization - Particle filter (Yuzhou)

// Particle filter

Integration (Xingyi & Guglielmo)

// How we have combined the blocks

Performance (Ronghui)

// Explain what performance is reached

// Include simulation vs final challenge test

Deficiencies

// What did not work

Conclusion

// Conclusions on project

Recommendations (Timo)

// Recommendations and next steps

openDoor function