robotic guidance joe stawicki. project description teach a robot to guide a person to a predefined...
TRANSCRIPT
PROJECT DESCRIPTION
Teach a robot to guide a person to a predefined destination.
The robot must use a cam and a vision algorithm(s) as the main guidance.
Sensors such as bump, infra-red and ultra-sound could provide direction and safety for the robot.
The solution should be easily modified for alternative routes.
Check out Alexander Popov’s 2011 senior project for techniques about driving the robot.
MY SOLUTION
Turtlebot Kinect Sensor/Gyroscope ROS (Robot Operating System)
Moves the robot Gathers data
Kinect Sensor Gyroscope
Calculates the next position User Interface
SLAM (Simultaneous Localization and Mapping)
KINECT SENSOR
Variety of Sensors 3D depth sensors
Laser RGB camera Array of Microphones
SLAM
Simultaneous Localization and Mapping Build map of unknown
environment Uses Sensors
Keeps track of current location Based on what it sees/has seen
Navigate to a particular spot on the map
PROBLEMS
Network Issues (SNC Firewall)
Using ROS (Open Source) Weight Balance Issues
MORE WORK…
Calibration of the gyroscope
METHODOLOGY
Moving the Robot using Sasha’s project Assembling the Turtlebot ROS Installation ROS Tutorials Teleop/Navigation Adaptation to new environments Documentation
DEMO
RESOURCES
Sasha Popov Professors
Dr. Pankratz and Dr. McVey
Classmates ROS.org
Many tutorials/how-to’s/answers
Other online resources Trial and Error
KNOWLEDGE
Programming Languages (CS 322) Turtlebot software written in Python
Analysis of Algorithms (CS 321) Navigation
Operating Systems (CS 370) Linux and ROS
All Classes
EXTENSIONS
Voice Activation Other Turtlebot
Applications Object Avoidance Mobile Device Operation Turtlebot Arm
ADVICE FOR UPCOMING SENIORS
Start early Do little bits Weekly meetings are very helpful Document as you go When stuck, ask for help Enjoy it!!
QUESTIONS???