Master Thesis - Hochschule Bonn-Rhein-Sieg

4. Overall evading concept Master Thesis Björn Ostermann page 50 of 126
4.4.1 Basic work routine
Figure 31, Figure 32 and Figure 33 contain the flowchart of the loop that is started in the path planning
control thread. As with the camera control thread, all button numbers correlate with the colouring and
numbering in Figure 19.
Path planning
control
• Get current time
• Calculate circle time
• Store current time
Load current
goal pose
Acquire current
robot position
from Data
Exchange
Object
Acquire collision
status from
Data Exchange
Object
Set movement to
Point to Point mode
Current
goal pose
reached
Set next goal pose as
current goal pose
Load current
goal pose
part 2
Figure 31: Flowchart path planning control thread – part 1
loading the necessary data and checking the current goal position
Like the camera control thread, the path planning control starts by calculating the duration of each
loop, which is required for the evaluation of the program in chapter 6.3. After this, the loop executes
data acquisition routines.
- The current pose (position and orientation of the endeffector) is loaded, the goal, towards which
the robot is headed due to its working process.
- The current robot pose is loaded from the data exchange object, in which it was stored by the
robot control thread (see chapter 4.5).
- The collision status, calculated by the camera control thread (see chapter 4.3.4), is loaded from
the data exchange object.