P10216: Robot Navigation and Plant Platform

Mission Statement and BackgroundThe Wandering Campus Ambassador project involves developing a robotic system to raise awareness of self-sustaining energy and Senior Design initiatives. This part of the project entailed designing a navigation system to give the robot a sense of awareness and to sustain an onboard plant. This is part of a collaborative effort with three other teams, which were responsible for building the physical platform and drive train, integration and testing, and development of future application software.

Concept GenerationMultiple concepts were generated, including dynamic environment mapping, color detection, interaction with humans, and promotion using social networking.

Concept SelectionDue to time constraints, simple reactive navigation algorithms were developed, with focus on plant care and simple navigation. GPS is used to keep track of the robot and to make sure it does not leave its designated area. Sonar and IR sensors are utilized for object detection and avoidance, while environmental sensors are used to monitor the plant.

The MasterA BeagleBoard Single-Board Computer (SBC) running Angstrom Linux is used to run navigation and other high-level application software, as well as maintain wireless connectivity with a host computer. It receives sensor data from MSP430 microcontrollers on which to bases its decisions.

The Slaves: Sensors and ControllersMSP430 microcontrollers from Texas Instruments are used to collect sensor information from the ADC and digital I/O ports. This information is stored on internal registers and sent to the SBC over the I2C bus. Sensors used include sonar for object detection, low angled IR for ground object detection, an accelerometer, GPS, compass, temperature, and humidity unit.

Software and NavigationThe software driving the robot is written in Java, and deployed on Angstrom Linux. It has control over the robot’s motor controller and sensors, and guides the robot in its quest to nurture the plant. The navigation portion of the robot control software was designed with dynamic object avoidance in mind due to the high probability of people moving through and around the area in which the robot will be navigating. The software also maintains constant communication with a host computer so that in case of danger or emergency, it will contact the system administrators.

System Integration and ResultsThe platform is assembled from constituent parts to make a functional robot with basic navigation and plant management. All parts were unit tested and subsystems were integration tested before system integration to ensure proper functionality of the overall system.

Team Members: Alan Olson (EE), Maha Alam (CE), Corey Proevncher (EE), Marcus Gwillim (CE), Nicolas Bouret (EE)Faculty guide: Professor George Slack

Acknowledgements:Prof. George Slack Dr. Dan Phillips, Dr. Roy Czernikowski,Dr. Jim Vallino, Prof. Stan Rickel, Dr. Pratapa ReddyRIT College of EngineeringRIT Golisano Institute for SustainabilityRIT Provost’s Learning Innovations Grant

The TeamLeft to Right:Alan Olson (EE) Integration EngineerMarcus Gwillim (CE) Navigation EngineerCorey Provencher (EE) Technical Lead Firmware EngineerNicolas Bouret (EE) Sensor EngineerMaha Alam (CE) Team Lead Software Engineer