how to build open hardware self-navigating car robot
TRANSCRIPT
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How to build Open Hardware Robotwith Arduino, RaspberryPi and Hot Glue
Tomáš Jukin@Inza
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Tomáš Jukin@Inza
www.juicymo.cz@JuicymoCZ
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#Probee
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True evolution…
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True evolution…GDG ohwHack 2014 mDevCamp 2016
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True evolution…GDG ohwHack 2014 mDevCamp 2016
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Robotics 101
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Robotics 101
Micro-Computervs.
Micro-Controller
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Robotics 101
Micro-Computervs.
Micro-Controller
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Robotics 101
Micro-Computervs.
Micro-Controller
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Robotics 101
Micro-Computervs.
Micro-Controller
Voltage: 3.3V Flash: SD card RAM: 512 MB (CPU & GPU) CPU: ARM11 (BCM2835 SoC) Clock: 700 MHzGPIO: 40 pin HDMI, Ethernet
RaspberryPi 1 B+
Arduino UNO
Voltage: 5V Flash: 32KB (-0.5 bootloader) SRAM: 2KB EEPROM: 1KB Clock: 16 MHzDigital I/O: 14/6 PWM Analog In: 6
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Robotics 101ways of communication
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Robotics 101IIC (i2c, I2C, I2C)Inter-Inter Circuit, 2 wires, <128 devices, <2m
ways of communication
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Robotics 101IIC (i2c, I2C, I2C)Inter-Inter Circuit, 2 wires, <128 devices, <2m
ways of communication
Serial Peripheral Interface, N+3 wires, N devicesSPI
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Robotics 101IIC (i2c, I2C, I2C)Inter-Inter Circuit, 2 wires, <128 devices, <2m
ways of communication
Serial Peripheral Interface, N+3 wires, N devices
Universal Asynchronous Receiver/Transmitter, 2 wires, 2 devices, <20m
SPI
UART
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Robotics 101IIC (i2c, I2C, I2C)Inter-Inter Circuit, 2 wires, <128 devices, <2m
ways of communication
Serial Peripheral Interface, N+3 wires, N devices
Universal Asynchronous Receiver/Transmitter, 2 wires, 2 devices, <20m
Full Serial Line, 9 wires, 2 devices, <20mRS-232 (COM port)
SPI
UART
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Robotics 101IIC (i2c, I2C, I2C)Inter-Inter Circuit, 2 wires, <128 devices, <2m
ways of communication
Serial Peripheral Interface, N+3 wires, N devices
Universal Asynchronous Receiver/Transmitter, 2 wires, 2 devices, <20m
Full Serial Line, 9 wires, 2 devices, <20mRS-232 (COM port)
Industry, 2 wires, <32 devices, <1200mRS-485 (EIA-485)
SPI
UART
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Robotics 101IIC (i2c, I2C, I2C)Inter-Inter Circuit, 2 wires, <128 devices, <2m
ways of communication
Serial Peripheral Interface, N+3 wires, N devicesSPI
UART
Industry, 2 wires, <32 devices, <1200mRS-485 (EIA-485)
Universal Asynchronous Receiver/Transmitter, 2 wires, 2 devices, <20m
Full Serial Line, 9 wires, 2 devices, <20mRS-232 (COM port)
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What does a4 wheels self driving car robotconsist of?
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1x RaspberryPi 1 B+ Starter Set https://goo.gl/jaTY70
1x Chinese 4WD Car Kit with Funduino UNO http://goo.gl/qetuW5
5x Ultrasonic Sensor HC-SR04 http://goo.gl/YojTTp
1x Wi-Fi dongle D-Link DWA-127 https://goo.gl/9d9BPo
1x Arduino Micro https://goo.gl/yjVqgC
1x I2C Level Converter http://goo.gl/9i4jCK
1x RTC module DS1307 http://goo.gl/esKm7t
1x PIR sensor HC-SR501 http://goo.gl/LyYGmb
1x 4D Touch TFT Display 4DPi-35 Rev. 1 http://goo.gl/RWs7rI
1x Skewers
1x Hot Glue
*plus PiCamera and PowerBank to power Pi… (and cables)
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The Idea
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I2C
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I2C
PWM
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I2C
PWM12V
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I2CUSB
PWM12V
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I2C
SPI
USB
PWM12V
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I2C
SPI
USB
PWM
PWM12V
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I2C
SPI
USB
PWM
PWM12V
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I2C
SPI
USB
PWM
PWM12V
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I2C
SPI
USB
I2C PWM
PWM12V
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I2C
SPI
USB
I2C PWM
PWM12V
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I2C
SPI
USB
I2C PWM
PWM12V
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I2C
SPI
USB
I2C PWM
PWM12V
I2C
PWM
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I2C
5V USB 7V
5V3.3V
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The Heart
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The Heart
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The Heart
Hardware
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The Heart
Hardware
HAL
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The Heart
Hardware
HAL
Events
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The Heart
Hardware
HAL
Events
Pre-Emptive Multi-Tasking
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The Heart
Hardware
HAL
Events
Pre-Emptive Multi-Tasking Config
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How do we develop in Arduino?
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Wiring / Processing
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C / C++
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C / C++
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C / C++
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5 Circles of Hell
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5 Circles of Hellin Arduino
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5 Circles of Hellin Arduino
.ino includes
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5 Circles of Hellin Arduino
.ino includesLCD_i2c.h
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5 Circles of Hellin Arduino
.ino includesLCD_i2c.hCrappy China goods
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5 Circles of Hellin Arduino
.ino includesLCD_i2c.hCrappy China goodsHW bugs
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5 Circles of Hellin Arduino
.ino includesLCD_i2c.hCrappy China goodsHW bugsThe need of switch
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The Heart
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v0 - Procedural (by MacGyver on ohwHack)
The Heart
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v0 - Procedural (by MacGyver on ohwHack)
The Heartv0.5 - “Spagetka” (was to ugly to Git -> lost :-(…)
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v0 - Procedural (by MacGyver on ohwHack)
The Heartv0.5 - “Spagetka” (was to ugly to Git -> lost :-(…)v1 - “Spagetti MAS” (in Git repo)
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v0 - Procedural (by MacGyver on ohwHack)
The Heartv0.5 - “Spagetka” (was to ugly to Git -> lost :-(…)v1 - “Spagetti MAS” (in Git repo)v2 - “The Platform” (in Git repo, in progress)
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v0 - Procedural (by MacGyver on ohwHack)
The Heartv0.5 - “Spagetka” (was to ugly to Git -> lost :-(…)v1 - “Spagetti MAS” (in Git repo)v2 - “The Platform” (in Git repo, in progress)
https://github.com/Juicymo/probee
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The Brain
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The Brain
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How do we develop for RaspberryPi?
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In Ruby
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But not only. It is a full featured* Linux.
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But not only. It is a full featured* Linux.
*running on ARM… :-(
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5 Circles of Hell
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5 Circles of Hellin RaspberryPi
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5 Circles of Hellin RaspberryPi
USB driven computer
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5 Circles of Hellin RaspberryPi
USB driven computerUnstable
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5 Circles of Hellin RaspberryPi
USB driven computerUnstableMore features madness
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5 Circles of Hellin RaspberryPi
USB driven computerUnstableMore features madnessWi-Fi dongle
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5 Circles of Hellin RaspberryPi
USB driven computerUnstableMore features madness
Unstable!!!Wi-Fi dongle
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Multi-Agent System
The Brainbuild on aActor-based concurrentobject framework in Ruby
https://github.com/Juicymo/probee
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The Brain
Raspbian
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The Brain
Raspbian
rvm
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The Brain
Raspbian
rvm
ruby
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The Brain
Raspbian
rvm
ruby
celluloid
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The Brain
Raspbian
rvm
ruby
celluloid
agens
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The Brain
Raspbian
rvm
ruby
celluloid
agens
probee MAS
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The Brain
Raspbian
rvm
ruby
celluloid
agens
probee MAS
https://github.com/Juicymo/probee
https://rubygems.org/gems/agens
https://github.com/celluloid/celluloid
https://rvm.io
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The Brain
ObjectRuby OOP
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The Brain
Object
Cell
Ruby OOP
Celluloid
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The Brain
Object
Cell
Actor
Ruby OOP
Celluloid
Celluloid
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The Brain
Object
Cell
Actor
Agent
Ruby OOP
Celluloid
Celluloid
agens
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The Brain
Object
Cell
Actor
Agent
MovementAgent
Ruby OOP
Celluloid
Celluloid
agens
probee
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The Brain
MovementAgent
Probee MAS
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The Brain
Motors
MovementAgent
Probee MAS
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The Brain
Motors
SteeringAgent
MovementAgent
Probee MAS
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The Brain
Motors
SensorsSteeringAgent
MovementAgent
Probee MAS
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The Brain
Motors
Sensors
CollisionAgent
SteeringAgent
MovementAgent
Probee MAS
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The Brain
Motors
Sensors
CollisionAgent
SteeringAgent
MovementAgent
Probee MAS
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The Brain
Motors
Sensors
CollisionAgent
SteeringAgent
MovementAgent
Probee MAS
Simple Agents can perform complex tasks
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The Brain
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The Brain
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How to make AI LogicScripting
HFSM HeuristicsMAS GA ANN
HTN
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How to make AI LogicScripting
HFSM HeuristicsMAS GA ANN
HTN
?
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HFSM
Movement FSMStop Drive Slowly Drive Fast
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HFSM
Movement FSMStop Drive Slowly Drive Fast
Turn Turret FSMStop Scan Target
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HFSM
Movement FSMStop Drive Slowly Drive Fast
Turn Turret FSMStop Scan Target
How to combine them??
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HFSM
Movement FSMStop Drive Slowly Drive Fast
Turn Turret FSMStop Scan Target
How to combine them??Modularity sucks too…
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How to make AI LogicScripting
HFSM HeuristicsMAS GA ANN
HTN
?
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How to make AI LogicScripting
HFSM HeuristicsMAS GA ANN
HTN
Behavior Trees
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Behavior Trees
http://aigamedev.com/open/article/bt-overview/
http://behavior3js.guineashots.com/
http://aigamedev.com/open/article/behavior-trees-part1/
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Neural Nets
HFSM
MAS
HTN
Behavior Trees
https://github.com/Inza/agenshttps://en.wikipedia.org/wiki/Multi-agent_system
https://github.com/aasm/aasmhttps://en.wikipedia.org/wiki/Finite-state_machine
https://github.com/Maumagnaguagno/HyperTensioNhttps://en.wikipedia.org/wiki/Hierarchical_task_network
https://github.com/jvoegele/behavior_treehttps://en.wikipedia.org/wiki/Behavior_tree
https://github.com/SergioFierens/ai4rhttps://en.wikipedia.org/wiki/Artificial_neural_network
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Questions?
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Tomáš Jukin@Inza
www.juicymo.cz@JuicymoCZ