robot interaction using cricket, an indoor positioning system · ¾uses range information to...
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Robot Interaction Using Cricket, an Indoor Positioning System
Hosam Haggag • Golbarg Mehraei
Advisor: P.S. KrishnaprasadCollaborator: Joshua Lioi
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What is Cricket?
Robot Interaction Using Cricket,an Indoor Positioning System
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What is Cricket?
Determines ranges of mobile clients by sending RF and ultrasonic signals to fixed beacons above.
Robot Interaction Using Cricket,an Indoor Positioning System
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Uses range information to triangulate position of client.
Robot Interaction Using Cricket,an Indoor Positioning System
( 0 , 0 )
X
( -120 , 0 )
( 0 , -182 )
Y
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Uses range information to triangulate position of client.
Robot Interaction Using Cricket,an Indoor Positioning System
![Page 6: Robot Interaction Using Cricket, an Indoor Positioning System · ¾Uses range information to triangulate position of client. Robot Interaction Using Cricket, an Indoor Positioning](https://reader033.vdocuments.mx/reader033/viewer/2022041705/5e43f21823fe8a252a63bc89/html5/thumbnails/6.jpg)
Uses range information to triangulate position of client.
Robot Interaction Using Cricket,an Indoor Positioning System
![Page 7: Robot Interaction Using Cricket, an Indoor Positioning System · ¾Uses range information to triangulate position of client. Robot Interaction Using Cricket, an Indoor Positioning](https://reader033.vdocuments.mx/reader033/viewer/2022041705/5e43f21823fe8a252a63bc89/html5/thumbnails/7.jpg)
Uses range information to triangulate position of client.
Robot Interaction Using Cricket,an Indoor Positioning System
![Page 8: Robot Interaction Using Cricket, an Indoor Positioning System · ¾Uses range information to triangulate position of client. Robot Interaction Using Cricket, an Indoor Positioning](https://reader033.vdocuments.mx/reader033/viewer/2022041705/5e43f21823fe8a252a63bc89/html5/thumbnails/8.jpg)
Tracking a Fixed Destination
Robot Interaction Using Cricket,an Indoor Positioning System
X
YFront of Robot
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Tracking a Fixed Destination
Robot Interaction Using Cricket,an Indoor Positioning System
X
YFront of Robot
Cricket 1
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Tracking a Fixed Destination
Robot Interaction Using Cricket,an Indoor Positioning System
X
YFront of Robot
Cricket 1Cricket 2
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Tracking a Fixed Destination
Robot Interaction Using Cricket,an Indoor Positioning System
R(XR,YR)
D(XD,YD)
X
Y
θ
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Tracking a Fixed Destination
Robot Interaction Using Cricket,an Indoor Positioning System
R(XR,YR)
D(XD,YD)
X
Y Φ
θ
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Robot Interaction Using Cricket,an Indoor Positioning System
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Tracking Another Robot
Robot is a moving destination.
How to find the coordinates of another robot?
Robot Interaction Using Cricket,an Indoor Positioning System
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Tracking Another Robot
Robot is a moving destination.
How to find the coordinates of another robot?
CORBA
Robot Interaction Using Cricket,an Indoor Positioning System
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Tracking Another Robot
CORBA
Robot Interaction Using Cricket,an Indoor Positioning System
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Tracking Another Robot
CORBA
Robot Interaction Using Cricket,an Indoor Positioning System
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Robot Interaction Using Cricket,an Indoor Positioning System
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Robot Interaction Using Cricket,an Indoor Positioning System
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Control Law Implementation
MDLe – Motion Description Language, extended version.
Independent of robotic system platform.
Robot Interaction Using Cricket,an Indoor Positioning System
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Project Website:
www.isr.umd.edu/Labs/ISL/Summer06project/
Robot Interaction Using Cricket,an Indoor Positioning System