Retake Embedded Motion Control 2018 Nr3: Difference between revisions
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TRequirements | |||
*Execute all tasks autonomously. | *Execute all tasks autonomously. | ||
*The POI will start initially close to and is detectable at standstill. | *The POI will start initially close to and is detectable at standstill. | ||
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*Perform all tasks without bumping with a person. | *Perform all tasks without bumping with a person. | ||
*Perform all tasks without getting stuck in a loop. | *Perform all tasks without getting stuck in a loop. | ||
Specifications | |||
The specifications are based on the requirements. | |||
The POI | |||
*The maximum velocity of the POI is 0.5 [m/s]. | |||
*The target strips are markers on the floor but PICO can’t recognize. | |||
*The target strips are each 1 [m]. | |||
The PICO | |||
*The maximal transitional velocity of PICO in any direction is 0.5 [m/s]. | |||
*The maximal rotational velocity of PICO is limited to 1.2 [rad/s] | |||
*PICO should not stand still or make no sensible movements for periods over 30 [seconds]. | |||
*The PICO must follow the POI at maximum distance of 0.4±0.2 [m]. | |||
*PICO has to finish the challenge within 2 [min]. | |||
The targets strips | |||
*The width of targets strips are each 1 [m]. | |||
*The number of target strips is around 5. | |||
Revision as of 15:06, 5 August 2018
This wiki describes and explains the software that was made for and implemented on the PICO robot to complete the retake of Embedded Motion Control course 2017-2018. The mission of the retake EMC 2018 is describe in the subsection ‘The challenge ‘Follow me!’’.
The robot that is used during the project is PICO. PICO has a holonomic wheelbase with which it can drive, a Laser Range Finder (LRF) from which it can gather information about the environment (blocked/free space) and wheels that are equipped with encoders to provide odometry data. All software that is developed has to be tested on the robot. There is also a simulator available which provides an exact copy of PICO’s functionalities. PICO itself has an on-board computer running Ubuntu 16.04. The programming language that is used during the course and the retake is C++ and Gitlab is used to store the cod
Initial Design
Introduction:
For the initial design, the requirements will be discussed as well as the functions and their specifications. Moreover, a list of the used hardware components and the diagram of the interface are shown below.
TRequirements
- Execute all tasks autonomously.
- The POI will start initially close to and is detectable at standstill.
- Finish the challenges within 2 minutes.
- The POI will move in such manner that, in most cases, two legs are visible.
- The POI will pass trough the middle of the target strips.
- The PICO must cross 80% of the target strips.
- The PICO must follow the POI at a distance of approximately 0.4 [m].
- Perform all tasks without bumping with a person.
- Perform all tasks without getting stuck in a loop.
Specifications The specifications are based on the requirements.
The POI
- The maximum velocity of the POI is 0.5 [m/s].
- The target strips are markers on the floor but PICO can’t recognize.
- The target strips are each 1 [m].
The PICO
- The maximal transitional velocity of PICO in any direction is 0.5 [m/s].
- The maximal rotational velocity of PICO is limited to 1.2 [rad/s]
- PICO should not stand still or make no sensible movements for periods over 30 [seconds].
- The PICO must follow the POI at maximum distance of 0.4±0.2 [m].
- PICO has to finish the challenge within 2 [min].
The targets strips
- The width of targets strips are each 1 [m].
- The number of target strips is around 5.