joint international master project dennis böck & dirk c. aumueller 1
Post on 28-Dec-2015
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Basic Project Goals RoboCup Challenge Communication Architecture Remote Controlling via Bluetooth Research Domains Mapping and Position Estimation Evaluation of a basic Robot Layout Summary
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robot swarm to cover an area and search for a defined target
Area to cover is a flat surface which likely contains obstacles such as chairs, boxes, tables, etc.
range to construct the robot should be $100 - $200
preferred prototyping platform is the LEGO NXT
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Reasons are ◦ Security◦ Observation◦ Finding◦ Rescue
Ways of detection◦ Contact◦ Visibility◦ Motion◦ Infrared◦ Sound◦ Heartbeat
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International research and education initiative
Goal is the fostering of AI and intelligent robotics
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RCNavigationControl, a control program◦ Opens a listening port for Bluetooth connections◦ Executes the commands it receives
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Computer Vision◦ Determine position of a robot with image
recognition Sensor Evaluation
◦ Acceleration Sensor◦ Gyro Sensor◦ Infrared/Ultrasonic Sensor◦ Compass Sensor
Swarm Search Inertial Navigation
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Algorithm allows to localize the robots global position together with the possibility to build a map of its environment
Two key operations◦ Generate a map of the environment while
processing through◦ Pose estimation based on relative movement
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