S.P.O.TS.P.O.T.

S.P.O.T.S.P.O.T.SSmart mart PPath-planningath-planning

OObject-avoidance bject-avoidance TTechnologyechnology

Steve Chaya, Rachna Jethwani, Vivek Parmar, Steve Chaya, Rachna Jethwani, Vivek Parmar, Dan Rubin, Brandon Sheffer Dan Rubin, Brandon Sheffer (Team Lead)(Team Lead)

S.P.O.TS.P.O.T.

Project OverviewProject Overview

● Current ProblemCurrent Problem● Sony’s AIBO can be remotely controlled using only Sony’s AIBO can be remotely controlled using only

primitive commands (Move forward, backward, left, primitive commands (Move forward, backward, left, right)right)

● Project AimProject Aim● Improve control by ensuring the robot navigates Improve control by ensuring the robot navigates

autonomously to a specified objectautonomously to a specified object

S.P.O.TS.P.O.T.

Project DescriptionProject Description

● Create an Internet based GUI that will allow the Create an Internet based GUI that will allow the user to user to

● View the video feedView the video feed● Make the AIBO move towards an object by clicking on Make the AIBO move towards an object by clicking on

itit

● Use object detection, obstacle avoidance, and path Use object detection, obstacle avoidance, and path planning to ensure that AIBO reaches specified planning to ensure that AIBO reaches specified objectobject

S.P.O.TS.P.O.T.

PurposePurpose

● The AIBO can be used to remotely monitor the houseThe AIBO can be used to remotely monitor the house● Checking up on the kidsChecking up on the kids● Checking if the house has been broken intoChecking if the house has been broken into● Catching your wife cheating on you with the milkmanCatching your wife cheating on you with the milkman

● A framework for algorithmsA framework for algorithms

● Facilitate future robotic developmentFacilitate future robotic development● Eliminate navigational pitfalls of obstacle avoidance Eliminate navigational pitfalls of obstacle avoidance

and path planningand path planning

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System EvolutionSystem Evolution

● Environment MappingEnvironment Mapping● Have the AIBO render a 3D version of its environment Have the AIBO render a 3D version of its environment

for navigation to objects outside its field of view.for navigation to objects outside its field of view.

● Person LocatorPerson Locator● Combine person recognition with Environment Combine person recognition with Environment

Mapping to make the AIBO find people.Mapping to make the AIBO find people.

● ExtensibilityExtensibility● Possible to extend the S.P.O.T. Framework to robots Possible to extend the S.P.O.T. Framework to robots

other than the AIBO.other than the AIBO.

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Application ComponentsApplication Components

● ClientClient

● ServerServer

● RobotRobot

S.P.O.TS.P.O.T.

ClientClient

● Interface for users to control the AIBOInterface for users to control the AIBO

● Four major functionsFour major functions

● Provide streaming video and display object selectionProvide streaming video and display object selection

● Initiate movement towards the selected objectInitiate movement towards the selected object

● Allow for manual movementAllow for manual movement

● Display status informationDisplay status information

● Minimal system requirementsMinimal system requirements

S.P.O.TS.P.O.T.

S.P.O.T. ServerS.P.O.T. Server

● The bridge which connects the AIBO and the ClientThe bridge which connects the AIBO and the Client

● Three major functionsThree major functions

● Process video from the AIBOProcess video from the AIBO

● Process user input from clientProcess user input from client

● Plan path to targetPlan path to target

● Must be capable of running Apache and MATLABMust be capable of running Apache and MATLAB

S.P.O.TS.P.O.T.

S.P.O.T.E.R.S.P.O.T.E.R.

● S.P.O.T. External RobotS.P.O.T. External Robot

● Two major functionsTwo major functions

● Provide the video stream Provide the video stream

● Navigate the environmentNavigate the environment

● SONY ER7 AIBO with the URBI FrameworkSONY ER7 AIBO with the URBI Framework

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URBIURBI● ““URBI is a Universal Real-time Behavior Interface and URBI is a Universal Real-time Behavior Interface and

gives you a simple but powerful way to control any gives you a simple but powerful way to control any

robot or complex system, using a convenient and easy robot or complex system, using a convenient and easy

to use scripting language that can be interfaced with to use scripting language that can be interfaced with

several popular programming languages (C++, Java, several popular programming languages (C++, Java,

Matlab,...) and OS (Windows, Mac OSX, Linux). “Matlab,...) and OS (Windows, Mac OSX, Linux). “

URBI Forge <http://www.urbiforge.com>

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Webots SimulatorWebots Simulator““Fast prototyping and simulation of mobile robots”Fast prototyping and simulation of mobile robots”

Cyberbotics <http://www.cyberbotics.com>

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User InterfaceUser Interface

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Parsing RequestParsing Request

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Image ProcessingImage Processing

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Command GenerationCommand Generation

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Command ExecutionCommand Execution

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Waterfall Process ModelWaterfall Process Model

● Stage 1 – AnalysisStage 1 – Analysis

● What currently exists?What currently exists?

● What are limitations of What are limitations of

existing software?existing software?

● How can we make it How can we make it

better?better?

S.P.O.TS.P.O.T.

Waterfall Process ModelWaterfall Process Model● Stage 2 – Requirement SpecificationStage 2 – Requirement Specification

● Web InterfaceWeb Interface

– Remote ControlRemote Control

● Web ServerWeb Server

– Image ProcessingImage Processing

– Obstacle AvoidanceObstacle Avoidance

– Path PlanningPath Planning

● URBI FrameworkURBI Framework

– AIBO CommunicationAIBO Communication

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Process ModelProcess Model

● Remaining StagesRemaining Stages

● DesignDesign

● ImplementationImplementation

● TestingTesting

● MaintenanceMaintenance

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Project Plan Project Plan (Stage 1)(Stage 1)Web Interface DesignWeb Interface Design

● Web InterfaceWeb Interface

● Ensure remote accessEnsure remote access

● Video stream capture for Video stream capture for

processingprocessing

● Settings controlSettings control

● Primitive movement commandsPrimitive movement commands

● Unit Analysis TestingUnit Analysis Testing

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Project Plan Project Plan (Stage 2)(Stage 2)Object Recognition and LocalizationObject Recognition and Localization

● Image ProcessingImage Processing

● Retrieve mouse coordinates for object selectionRetrieve mouse coordinates for object selection

● Create MATLAB routine to generate distance Create MATLAB routine to generate distance

● Use IR sensors to verify distanceUse IR sensors to verify distance

● Unit Analysis TestingUnit Analysis Testing

S.P.O.TS.P.O.T.

Project Plan Project Plan (Stage 3)(Stage 3)Path Planning and Obstacle AvoidancePath Planning and Obstacle Avoidance

● Create Path Planning and Obstacle Avoidance Create Path Planning and Obstacle Avoidance

AlgorithmsAlgorithms

● Design first step routine so the AIBO moves initially Design first step routine so the AIBO moves initially

in the direction of the selected objectin the direction of the selected object

● Keep track of displacementKeep track of displacement

● Use IR to range objects that may be in the wayUse IR to range objects that may be in the way

● Use Image Processing to do obstacle avoidanceUse Image Processing to do obstacle avoidance

● Unit Analysis TestingUnit Analysis Testing

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Project Plan Project Plan (Stage 4)(Stage 4)Project Completion and TestingProject Completion and Testing

● Assemble pieces to complete the productAssemble pieces to complete the product● Unit Analysis Testing as each stage is installedUnit Analysis Testing as each stage is installed

● Full Testing AnalysisFull Testing Analysis

● Final PresentationFinal Presentation

● Extra features as time permitsExtra features as time permits

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Questions?Questions?