Retake Embedded Motion Control 2018 Nr3

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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.


Requirements

  • 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.

Skill function:

Task funciton: Components

To be able to execute the Follow me!’ challenges the PICO robot, already mentioned above, will be used. The following hardware components will be utilized: Actuators: Holonomic base with three omni-wheels.

Sensors:

  • Laser range finder (LRF): To detect the distances to objects in the environment.
  • Range: To be determined
  • Field of view: 270 degrees
  • Accuracy: To be determined

Computer running Ubuntu 16.04.

2Initial Design

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