robotic guidance joe stawicki. project description teach a robot to guide a person to a predefined...

ROBOTIC GUIDANCEJoe Stawicki

PROJECT DESCRIPTION

Teach a robot to guide a person to a predefined destination.

The robot must use a cam and a vision algorithm(s) as the main guidance.

Sensors such as bump, infra-red and ultra-sound could provide direction and safety for the robot.

The solution should be easily modified for alternative routes.

Check out Alexander Popov’s 2011 senior project for techniques about driving the robot.

MY SOLUTION

Turtlebot Kinect Sensor/Gyroscope ROS (Robot Operating System)

Moves the robot Gathers data

Kinect Sensor Gyroscope

Calculates the next position User Interface

SLAM (Simultaneous Localization and Mapping)

KINECT SENSOR

Variety of Sensors 3D depth sensors

Laser RGB camera Array of Microphones

SLAM

Simultaneous Localization and Mapping Build map of unknown

environment Uses Sensors

Keeps track of current location Based on what it sees/has seen

Navigate to a particular spot on the map

PROBLEMS

Network Issues (SNC Firewall)

Using ROS (Open Source) Weight Balance Issues

MORE WORK…

Calibration of the gyroscope

METHODOLOGY

Moving the Robot using Sasha’s project Assembling the Turtlebot ROS Installation ROS Tutorials Teleop/Navigation Adaptation to new environments Documentation

DEMO

RESOURCES

Sasha Popov Professors

Dr. Pankratz and Dr. McVey

Classmates ROS.org

Many tutorials/how-to’s/answers

Other online resources Trial and Error

KNOWLEDGE

Programming Languages (CS 322) Turtlebot software written in Python

Analysis of Algorithms (CS 321) Navigation

Operating Systems (CS 370) Linux and ROS

All Classes

EXTENSIONS

Voice Activation Other Turtlebot

Applications Object Avoidance Mobile Device Operation Turtlebot Arm

ADVICE FOR UPCOMING SENIORS

Start early Do little bits Weekly meetings are very helpful Document as you go When stuck, ask for help Enjoy it!!

QUESTIONS???