Embedded Motion Control/Corridor competition 2017

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An intermediate review will be held (date to be determined) at the RoboCup soccer field. During this challenge, called the corridor competition the students have to let the robot drive through a corridor and then take the first exit. The precise location of this exit will not be given in advance. Some facts:

  • Set-up
    • Make sure your software is easy to set-up, i.e:
      • Your software can be updated with one easy command, e.g. 'git pull'
      • Your software can be compiled using 'cmake' and 'make'
      • To start your software, only one executable has to be called
      • If your set-up deviates from this method, let us know as soon as possible!
    • The software of all groups will be updated on the robot before the challenge starts
      • This way, teams starting the challenge have as much time as teams that do the challenge at the end
  • The corridor:
    • The exit can be either left or right
    • It is not known beforehand how far the exit is located from the start (somewhere between 1 and 10 meters)
    • The opposing end wall (on the far end) will be open
    • The walls are approximately parallel to each other
      • Note: the walls might not be perfectly straight
    • The distance between the walls is not known in advance, but will be reasonable (somewhere between 0.5 and 1.5 meters).
    • The distance between the walls will be fairly constant throughout the corridor, 'fairly' meaning that we build the corridor by hand, and the distance may change a little along the corridor.
    • At the exit, the finish line is located approximately 30 cm from the side of the corridor (Notice: approximately, so don't just drive forward for 30 cm!). The walls that can be used to align PICO will be a little bit longer.
  • Start, goal and limits:
    • PICO will start with its laser range finder between the walls
    • PICO will be approximately facing the end of the corridor. (Notice: approximately, so don't just drive forward for n seconds!)
    • You have finished the assignment if PICO did not drive into walls, took the correct turn and the entire rear wheel is across the finish line.
    • Maximum speed (is limited in PICO): 0.5 m/s translational, 1.2 rad/s rotational. By the way, that's pretty fast (compared to last year's 0.2 m/s), so be careful! You don't have to drive that fast!
  • Scoring:
    • Try not to touch the wall! Slightly touching is OK, however, bumping (i.e., driving head-on into a wall) is not allowed! If PICO hits the wall, we decide whether it counts as bumping. If PICO bumps into the wall, that trial ends immediately.
    • Every team has two trials (= max one restart). A trial ends if:
      • PICO bumps into the wall
      • PICO has not moved or has not made sensible movements (as judged by the tutors) for 30 seconds
      • The total time limit of 5 minutes per group is reached
      • The group requests a restart (on the first trial)
    • restart means:
      • PICO restarts at the beginning of the corridor
      • CORRIDOR time (= time used for scoring) is reset, BUT
      • TOTAL time keeps running
    • Every team has a total of 5 minutes
    • There will be no second attempt if first attempt was successful

Next you can see an example of a corridor:

Scheme of a possible corridor composition, with measurements