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Self-MappingSelf-MappingMobile RobotMobile Robot

Senior Capstone Project ProposalSenior Capstone Project Proposal

Department of Electrical and Computer Department of Electrical and Computer EngineeringEngineering

Bradley UniversityBradley University

Advisor: Dr. A.MalinowskiAdvisor: Dr. A.Malinowski

Presented by Stephanie LuftPresented by Stephanie Luft

06 December 200506 December 2005

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Presentation OutlinePresentation Outline

Project OverviewProject Overview Review of Previous WorkReview of Previous Work System Block DiagramSystem Block Diagram Software FunctionalitySoftware Functionality EquipmentEquipment ScheduleSchedule QuestionsQuestions

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Project OverviewProject Overview

Objective: To develop a robot Objective: To develop a robot that willthat will

Map an area of its environmentMap an area of its environment

Locate itself within the mapLocate itself within the map

Orient itself within the Orient itself within the environmentenvironment

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Review of Previous WorkReview of Previous Work

GuideBot Capstone Project 2005GuideBot Capstone Project 2005 John Hathway and Daniel LeachJohn Hathway and Daniel Leach

Thesis: “Concurrent Map Building and Self-Thesis: “Concurrent Map Building and Self-Localization for Mobile Robot Navigation”Localization for Mobile Robot Navigation” Thomas Duckett, Manchester, United KingdomThomas Duckett, Manchester, United Kingdom

University of Illinois Mechatronics Lab University of Illinois Mechatronics Lab ProjectsProjects http://coecsl.ece.uiuc.edu/ge423/spring04/group7/group7.htmlhttp://coecsl.ece.uiuc.edu/ge423/spring04/group7/group7.html http://coecsl.ece.uiuc.edu/ge423/spring03/Group7/http://coecsl.ece.uiuc.edu/ge423/spring03/Group7/

index.html#_Toc40283479index.html#_Toc40283479

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System Block DiagramSystem Block Diagram

ActivMedia Robotics Pioneer 2

Mobile Robotic Platform

+ Laptop Interface

Audio Warning

Robot MovementProximity Values

Facing Direction

Map

Location within Map

Distance Sensors

Compass

Remote PC

Wireless Connection

User Commands

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+ Laptop Interface

Audio Warning


Facing Direction

Map

Location within Map

Distance Sensors

Compass

Remote PC

Wireless Connection

User Commands

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+ Laptop Interface

Audio Warning


Facing Direction

Map

Location within Map

Distance Sensors

Compass

Remote PC

Wireless Connection

User Commands

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+ Laptop Interface

Audio Warning


Facing Direction

Map

Location within Map

Distance Sensors

Compass

Remote PC

Wireless Connection

User Commands

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Software FunctionalitySoftware Functionality

Functional Modes:Functional Modes: MappingMapping ManeuveringManeuvering Immediate ResponseImmediate Response

C++/MATLABC++/MATLAB

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Software: Mapping ModeSoftware: Mapping Mode

Plot environment and locate robotPlot environment and locate robot Distance sensing Distance sensing Immediate responseImmediate response Data transmissionData transmission Plotting – obstacles and robot locationPlotting – obstacles and robot location Self-locating Self-locating Previous map identification Previous map identification Navigation and maneuveringNavigation and maneuvering

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Software: Maneuvering Software: Maneuvering ModeMode

Allow user to control robotAllow user to control robot User interfaceUser interface Data transmission Data transmission Immediate responseImmediate response Navigation and maneuvering Navigation and maneuvering Distance sensingDistance sensing Self-locatingSelf-locating Plotting – robot location onlyPlotting – robot location only

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Software Functionality: Software Functionality: Mapping and ManeuveringMapping and Maneuvering

Start

Robot power-up

Establish wireless connection between robot &

remote computer

Send warning to user to power down

Robot takes initial mapping of its area and indicates its

location

Check battery power

Robot continues to navigate to and map areas requiring fine-tuning until interrupted

by a user command or a low battery warning

Determine who has control

Disconnect: when wireless connection is terminated or

battery is very low, robot powers down. Map on

remote computer will display the robot’s last location.

End

User directs robot movement from the remote computer

Commands: STOPGO

TURN X°MAP

POWER DOWN

OK

AUTO

TOO LOW

USER

MAP

POWER DOWN/DISCONNECT

STOPGO

TURN X°

Wait for a short time

LOW BATT

USER CMD

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Software Functionality: Software Functionality: Immediate ResponseImmediate Response

Object too close to avoid?

Start

STOP

Audio warning

Wait for object to clear or for user to come rescue the

robot.

YES

NO

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EquipmentEquipment ActiveMedia Pioneer 2 mobile robotic ActiveMedia Pioneer 2 mobile robotic

platform platform Laptop computer with wireless Laptop computer with wireless

connectionconnection Digital compassDigital compass Remote PC with network connectionRemote PC with network connection Laser distance meterLaser distance meter Pan-tilt unit Pan-tilt unit Appropriate connectors for all equipmentAppropriate connectors for all equipment MATLAB, Visual Studio, and/or another MATLAB, Visual Studio, and/or another

type of software development system.type of software development system.

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Equipment: Equipment: Distance Meter SelectionDistance Meter Selection Considerations:Considerations:

CostCost AccuracyAccuracy Measurable distance: a 0.2 to 10 meter Measurable distance: a 0.2 to 10 meter

rangerange SafetySafety WeightWeight Computer interfaceComputer interface AvailabilityAvailability

TLM 100 feasibility investigationTLM 100 feasibility investigation

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ScheduleScheduleWeek of 22 Week of 22 Jan.Jan.

Research software methods and details of equipment functionality

1 week1 week

29 Jan. – 11 29 Jan. – 11 Feb.Feb.

Connect hardware, develop functional understanding

2 weeks2 weeks

12 Feb. – 25 12 Feb. – 25 Feb.Feb.

Software development 2 weeks2 weeks

26 Feb. – 11 26 Feb. – 11 Mar.Mar.

Software simulation 1 week1 week

12 Mar. – 15 12 Mar. – 15 Apr.Apr.

Software debug and test 5 weeks5 weeks

16 Apr. – end 16 Apr. – end of semesterof semester

Prepare for final report, presentation, and expo

1-2 1-2 weeksweeks

Self-Mapping Self-Mapping Mobile RobotMobile Robot

Senior Capstone Project ProposalSenior Capstone Project Proposal

Department of Electrical and Computer Department of Electrical and Computer EngineeringEngineering

Bradley UniversityBradley University

Advisor: Dr. A.MalinowskiAdvisor: Dr. A.Malinowski

Presented by Stephanie LuftPresented by Stephanie Luft

06 December 200506 December 2005Questions?Questions? [email protected]@bradley.edu

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Documents

system block diagram

environment slide

project overview objective

toc402834 slide

graphics work

robot plot environment

robot location self

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