Retake Embedded Motion Control 2018 Nr2
Introduction and Problem Definition
The motivation for "Follow Me!" project is to develop a software architecture for PICO to assist elderly person in carrying the objects and follow the person to the desired position. In this project, three levels are defined to achieve the goal in a robust manner. The elderly person is defined as a Person Of Interest (POI), static obstacles and actors are all part of the environment (World).
PICO must follow the POI, POI will not move at a speed more than 0.5 m/s (i.e) approximately 0.75 step/second. PICO should follow the POI at a distance of 0.4 m. The level one task was only designed, developed, implemented and tested. In level one, the PICO should follow the POI with the disturbances of actor in the environment. The actor cannot occlude the POI (i.e) should not come in between the POI and PICO.
The POI should pass through the middle of the target strips as shown in Figure 3, the number of target strips will be around 5. PICO should pass through 80 % of the target strip.
The initial design section gives an overview of the various design decisions taken to achieve the desired results. The requirements for completing the task with available resources is defined followed by the state machine and finally functional components required to achieve the state machine defined.
|Identify the POI (reference frame)||Two legs are identified which is close to PICO (base frame)||Visualize using lase range points, see|
|Follow the POI||Follow the POI at a distance of 0.4 m at a speed of 0.5 m/s||Walk straight in-front of the PICO|