Embedded Motion Control Group 10 S E M

Embedded Motion Control Group 10 S. E. M. Janssen T. Korssen R. A. Ottervanger P. Smits Under supervision of: S. van den Dries

Contents 1: Wall follower Noise reduction Dead-end detection Arrow detection 2: Map-based navigation Mapping Line follower Path planning 2

Program 1: Wall follower Proportional controller Velocity scales with Lfront, with max 0. 2. Rotation scales with Lright, with max 0. 7. Wall avoidance 3

Program 1: Noise reduction Gaussian filter on laser data 4

Program 1: Dead-end detection Find closed contours For a certain range, determine distance (d. L) between 2 subsequent data points. If(d. L < L_max) for all d. L { Dead_end = true; } While(Dead_end){ Turn_left = true; } 5

Program 1: Arrow detection Shape 6

Program 1: Arrow detection Shape Direction Right Left 7

Program 1: Arrow detection 8

Program 1: Arrow detection 9

Program 2: Mapping Local map: Detect lines from laserdata. Transform local map: Use transformation matrix based on odometry as initial guess. Update global map: Fit local map on global map using cost function and Newton Iteration. Update position: Update odometry based on cost function from the map update. 10

Program 2: Line follower Input: Position(x, y) from odometry Direction(line, θ) Output: Velocity Rotation Goal reached: Ask for new direction 11

Program 2: Path planning Find endpoints of lines, within certain range. Determine crossing type, with endpoints. Create path towards exit of crossing + dx. Save path to prevent going back. 12

Questions? 13