project proposal: student: rowan pivetta supervisor: dr nasser asgari
TRANSCRIPT
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“NI Autonomous Robotics Competition 2013”
Project Proposal:
Student: Rowan Pivetta Supervisor: Dr Nasser Asgari
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The Competition 2013
Milestones
Research
Robotic Design
Obstacle Detection
Navigation
Proposal
Project Proposal -Outline
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Competition run by National Instruments
◦ Supply products to engineering industry
April to late September 2013
24 universities from Australia & New Zealand
Flinders University team
◦ Joel Cottrell, Joshua Renfrey
◦ Rowan Pivetta and Peter Cook (BENG Mechanical)
Design, build and program an autonomous robotic
vehicle
Fully utilises the NI Single board RIO
Program the sbRIO through NI LabView
◦ A graphical development software package
The Competition
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Scenario: A hazardous mining environment
Search and retrieval of precious metals
Competition involves
◦ Integration – Robot design and sbRIO
◦ Task – Speed vs time
◦ Obstacle Avoidance
◦ Object Detection and Handling
◦ Navigation
90% of robot control must be done by single board RIO and
programmed in LabView
The Competition Task 2013
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Navigate from home position
to the mining field
Distinguish the golden cubes
from the rubble grey cubes
Pick up and transport up to 4
golden cubes to the depot
Complete the task in under 3
minutes without incurring
any penalties.
◦ Hitting walls
◦ Picking up rubble
The Competition Task 2013
Mining Area
Depot
Home
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Unknown obstacles
around mining area
Unknown position of the
cubes in mining area
Unknown openings into
mining area
One point for localisation
◦ A IR emitting tower with
fixed co-ordinates
The Competition Task 2013
Mining Area
Depot
Home
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Milestone 1 – 29th April
◦ Completion of NI LabView online training course
◦ Demonstrate control of a motor or a sensor
◦ Complete written project proposal
Milestone 2 – 3rd June
◦ Prototype design with obstacle avoidance
Milestone 3 – 22nd July
◦ Final design and demonstration of navigation and localisation
Milestone 4 – 26th August
◦ Demonstrate object handling, navigation, localisation and obstacle avoidance
Competition – Week of 23rd September
Milestones
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Research – Previous Competitions
Competition run in 2012:
◦ Search and rescue mission
Understand competition
◦ Grid pattern reference
◦ Height obstacles
◦ Colour block detection
Check milestones
◦ The type of hardware used
◦ The sensors and structures used
◦ Assessing different designs
Group discussions
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Four grippers
◦ Design to maximum efficiency
Internal block storage
Tip-up truck
◦ Allow easier transportation
Circular vs rectangular footprint
Holonomic vs conventional drive
Final design still under consideration
Collaborative decision
Robotic Design Options
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Sensors are the eyes and ears
◦ Robot decisions based on sensor readings
Strategic positioning
◦ Detect walls and height obstacles
◦ No interference between robotic components
More sensors provides more information
allowing better decision making
Does to much hinder performance
◦ Increase weight and power drain
◦ Constrained to capabilities of sbRIO
◦ Further complex sensor fusing algorithms
Obstacle Avoidance
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Obstacle Avoidance - Sensors Infra-red or Ultrasonic range finding sensors
Camera can detect the edges of the
obstacles
LIDAR gives more information about the
obstacles
◦ Can be used to determine exact boundaries
Combining camera and LIDAR can
distinguish between the obstacles and the
smaller blocks
IR Range Finder
LIDAR
Camera
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Navigation and localisation is a difficult
problem to solve in robotics
Combine all sensor information
Techniques
◦ Markov localisation
◦ Extended Kalman Filter
Robot prediction vs measured position
◦ Simultaneous Localization And Mapping
◦ Follow the right wall
Navigation
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Design the robot for what is best suited
for the specifications of the competition
◦ Unique wheel configuration
◦ Unique navigation solution
◦ Unique robotic design
Proposal
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Questions?
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National Instruments, 2013, http://australia.ni.com/ni-arc
NIARC, September 2012, http://www.youtube.com/watch?
v=Nx3hZOjneZ4&list=UUYKerj0SwaT1BaTSi9Xxltw&index=
Bayuk, R. “A comparison of Robot Navigation Algorithms for
an Unknown Goal”,
http://www.micsymposium.org/mics_2005/papers/paper108.
References