1 test slide text works. text works. graphics work. graphics work
TRANSCRIPT
1
Test SlideTest Slide
Text works.Text works. Graphics Graphics
work.work.
Self-MappingSelf-MappingMobile RobotMobile Robot
Senior Capstone ProjectSenior Capstone ProjectProgress ReportProgress Report
Department of Electrical and Computer Department of Electrical and Computer EngineeringEngineering
Bradley UniversityBradley University
Advisor: Dr. A.MalinowskiAdvisor: Dr. A.Malinowski
Presented by Stephanie LuftPresented by Stephanie Luft
2 March 20062 March 2006
Presentation OutlinePresentation Outline
Project OverviewProject Overview Progress to DateProgress to Date Future WorkFuture Work Revised ScheduleRevised Schedule QuestionsQuestions
Presentation OutlinePresentation Outline
Project OverviewProject Overview Progress to DateProgress to Date Future WorkFuture Work Revised ScheduleRevised Schedule QuestionsQuestions
Project OverviewProject Overview
Objective: To develop a robot Objective: To develop a robot that willthat will
Map an area of its environmentMap an area of its environment
Locate itself within the mapLocate itself within the map
Orient itself within the Orient itself within the environmentenvironment
System Block DiagramSystem Block Diagram
ActivMedia Robotics Pioneer 2
Mobile Robotic Platform
+ Laptop Interface
Audio Warning
Robot MovementProximity Values
Facing Direction
Map
Location within Map
Laser Distance
Meter
Compass
Remote PC
Wireless Connection
User Commands
Presentation OutlinePresentation Outline
Project OverviewProject Overview Progress to DateProgress to Date Future WorkFuture Work Revised ScheduleRevised Schedule QuestionsQuestions
Progress to DateProgress to Date
Distance SensingDistance Sensing Hardware Hardware
IntegrationIntegration Mapping SoftwareMapping Software
Progress to Date: Progress to Date: Distance SensingDistance Sensing
Feasibility study of models Feasibility study of models availableavailable EE402 projectEE402 project
Investigation of alternative Investigation of alternative methodmethod
Image processing softwareImage processing software Selection of MATLAB over C++Selection of MATLAB over C++
Image ProcessingImage Processing
Insert pictures hereInsert pictures here
Progress to Date: Progress to Date: Hardware IntegrationHardware Integration
Pan-Tilt UnitPan-Tilt Unit Robot MovementRobot Movement Robot as Power Robot as Power
SourceSource LaptopLaptop Distance MeterDistance Meter PTUPTU
Progress to Date:Progress to Date:Mapping SoftwareMapping Software
Language selection madeLanguage selection made Investigation of previous Investigation of previous
work at Dartmouth using work at Dartmouth using MATLABMATLAB
Presentation OutlinePresentation Outline
Project OverviewProject Overview Progress to DateProgress to Date Future WorkFuture Work Revised ScheduleRevised Schedule QuestionsQuestions
Future WorkFuture Work
Distance SensingDistance Sensing Hardware Hardware
IntegrationIntegration Mapping Mapping
SoftwareSoftware
Future Work: Future Work: Distance SensingDistance Sensing
Further TestingFurther Testing Distance calculationDistance calculation CalibrationCalibration Image Capture & PTU Image Capture & PTU
IntegrationIntegration
Future Work: Future Work: Hardware IntegrationHardware Integration
Pan-Tilt UnitPan-Tilt Unit Robot MovementRobot Movement Robot as Power Robot as Power
SourceSource LaptopLaptop Distance MeterDistance Meter PTUPTU
Software ControlSoftware Control
Progress to Date:Progress to Date:Mapping SoftwareMapping Software
Probabilities/Fuzzy Logic MethodProbabilities/Fuzzy Logic Method Image Processing for Map Image Processing for Map
RecognitionRecognition Stages to Be CompletedStages to Be Completed
DevelopmentDevelopment TestingTesting DebuggingDebugging IntegratingIntegrating
Presentation OutlinePresentation Outline
Project OverviewProject Overview Progress to DateProgress to Date Future WorkFuture Work Revised ScheduleRevised Schedule QuestionsQuestions
Revised ScheduleRevised ScheduleWeek of 22 Jan. Research software methods and details of
equipment functionality1 week
29 Jan. – 11 Feb. Connect hardware, develop functional understanding
2 weeks
12 Feb. – 25 Feb. Software development 2 weeks
26 Feb. – 11 Mar. Software simulation 2 weeks
March Software development Hardware Integration
4 weeks
1st week April Final DebugTotal Integration
1 week
Remainder of Semester
Prepare for Expo, Final Report, Presentation, Demo
4 weeks
Self-MappingSelf-MappingMobile RobotMobile Robot
Senior Capstone ProjectSenior Capstone ProjectProgress ReportProgress Report
Department of Electrical and Computer Department of Electrical and Computer EngineeringEngineering
Bradley UniversityBradley University
Advisor: Dr. A.MalinowskiAdvisor: Dr. A.Malinowski
Presented by Stephanie LuftPresented by Stephanie Luft
2 March 20062 March 2006Questions?Questions? [email protected]@bradley.edu
Software FunctionalitySoftware Functionality
Functional Modes:Functional Modes: MappingMapping ManeuveringManeuvering Immediate ResponseImmediate Response
C++/MATLABC++/MATLAB
Software: Mapping ModeSoftware: Mapping Mode
Plot environment and locate robotPlot environment and locate robot Distance sensing Distance sensing Immediate responseImmediate response Data transmissionData transmission Plotting – obstacles and robot locationPlotting – obstacles and robot location Self-locating Self-locating Previous map identification Previous map identification Navigation and maneuveringNavigation and maneuvering
Software: Maneuvering Software: Maneuvering ModeMode
Allow user to control robotAllow user to control robot User interfaceUser interface Data transmission Data transmission Immediate responseImmediate response Navigation and maneuvering Navigation and maneuvering Distance sensingDistance sensing Self-locatingSelf-locating Plotting – robot location onlyPlotting – robot location only
Software Functionality: Software Functionality: Mapping and ManeuveringMapping and Maneuvering
Start
Robot power-up
Establish wireless connection between robot &
remote computer
Send warning to user to power down
Robot takes initial mapping of its area and indicates its
location
Check battery power
Robot continues to navigate to and map areas requiring fine-tuning until interrupted
by a user command or a low battery warning
Determine who has control
Disconnect: when wireless connection is terminated or
battery is very low, robot powers down. Map on
remote computer will display the robot’s last location.
End
User directs robot movement from the remote computer
Commands: STOPGO
TURN X°MAP
POWER DOWN
OK
AUTO
TOO LOW
USER
MAP
POWER DOWN/DISCONNECT
STOPGO
TURN X°
Wait for a short time
LOW BATT
USER CMD
Software Functionality: Software Functionality: Immediate ResponseImmediate Response
Object too close to avoid?
Start
STOP
Audio warning
Wait for object to clear or for user to come rescue the
robot.
YES
NO