Retake Embedded Motion Control 2018 Nr1

Retake Albu, T.F.

Requirements:

R1. The robot will start by searching for the POI.

R2. The robot will follow the POI.

R3. The robot will filter out another person, even if it comes close to POI, but not between the POI and the robot.

R4. If the contact with the POI is lost, the robot will search for POI with the same procedure as at start.

Assumptions:

A1. POI will move with a speed less than 0.5m/s.

A2. Two legs of POI will always be visible to the robot.

Architectural Design Decisions:

ADD10. We organize the software as two goals: detect POI, and follow POI. The robot will start in detection mode, and as soon as the POI has been found, it goes to follow mode. If the contact with POI is lost, the robot goes beck to detection mode. Within the follow POI goal, we distinguish two sub-goals: navigating to a certain "watching" position behind the POI, and aligning the robot to face the POI. The robot will go to the watching position which gives it the best view of the POI movements. If POI is still, the robot will just stay there and "watch".

ADD20. The necessary tasks we consider to be: detecting the objects around the robot in a certain distance range; calculating the "watching" position and the line of POI legs; navigating to a certain position; aligning by rotation the robot to a certain direction.

ADD30. The World Model consists of the position of the objects around the robot in a certain distance range, in the coordinate system of the robot.

ADD40. The necessary skills we consider to be: measuring the distance between the robot and the closest object at a certain given angle between -pi and pi (not including -pi and including pi); translating the robot at a certain speed, specifying the projection of the velocity on the coordinate axis in the robot coordinate system; rotating the robot at a certain angular speed.

Detailed Design Decisions:

D1. In order to find the POI, the robot will scan 2 times 180 degrees, and will parse the information. The robot shall rotate until it detect the 2 legs of the POI in the range 0.2m-1m, after that it will move at the "watching" position -- a central position at 0.4m behind the POI, facing it.

D2. The "watching" position is calculated as follows:

   - the robot detects the 2 legs of the POI, and their centers of mass.

D2. In order to filter out