Retake Embedded Motion Control 2018 Nr2

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Introduction and Problem Definition

Figure 1: PICO

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.

Figure 2: A situation which can not occur for Level 1. In red we see PICO, blue the POI, and in darkgreen the actor.

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.

Figure 3: A sketch of the setup. The pre-defined path is indicated by the dashed lines, the target strips by the black lines perpendicular to the pre-defined path, the POI that follows the pre-defined path in blue, and PICO in red.


TU/e Number Name E-mail
1036818 Rokesh Gajapathy

Initial Design


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.


Function Action Validation
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