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Self-Mapping Mobile RobotSenior Capstone Project Progress Report Department of Electrical and Computer Engineering Bradley University Advisor: Dr. A.Malinowski Presented by Stephanie Luft 2 March 2006ZP(F   | , Presentation OutlineHProject Overview Progress to Date Future Work Revised Schedule Questions>Presentation OutlineHProject Overview Progress to Date Future Work Revised Schedule QuestionsI8Project OverviewObjective: To develop a robot that will Map an area of its environment Locate itself within the map Orient itself within the environment&(d(d?!System Block Diagram @Presentation OutlineHProject Overview Progress to Date Future Work Revised Schedule Questions*I'A"Progress to Date7Distance Sensing Hardware Integration Mapping Software  8'O-#Progress to Date: Distance Sensing$$(Feasibility study of models available EE402 project Investigation of alternative method Image processing software Selection of MATLAB over C++ `&>&>f6Image ProcessingInsert pictures hereN*'Progress to Date: Hardware Integration(((MPan-Tilt Unit Robot Movement Robot as Power Source Laptop Distance Meter PTU 633P+"Progress to Date: Mapping Software##(RLanguage selection made Investigation of previous work at Dartmouth using MATLAB (QSCPresentation OutlineHProject Overview Progress to Date Future Work Revised Schedule Questions*I" D) Future Work7Distance Sensing Hardware Integration Mapping Software (8&R/Future Work: Distance Sensing(QFurther Testing Distance calculation Calibration Image Capture & PTU Integration Q."Future Work: Hardware Integration##(^Pan-Tilt Unit Robot Movement Robot as Power Source Laptop Distance Meter PTU Software Control 633S0"Progress to Date: Mapping Software##(Probabilities/Fuzzy Logic Method Image Processing for Map Recognition Stages to Be Completed Development Testing Debugging Integrating P]*]*  EPresentation OutlineHProject Overview Progress to Date Future Work Revised Schedule Questions*I. !Revised Schedule "Self-Mapping Mobile RobotSenior Capstone Project Progress Report Department of Electrical and Computer Engineering Bradley University Advisor: Dr. A.Malinowski Presented by Stephanie Luft 2 March 2006ZP(F   | ,\1Software FunctionalityEFunctional Modes: Mapping Maneuvering Immediate Response C++/MATLAB 6( ( ]2Software: Mapping ModePlot environment and locate robot Distance sensing Immediate response Data transmission Plotting  obstacles and robot location Self-locating Previous map identification Navigation and maneuvering&""^3Software: Maneuvering ModeTAllow user to control robot User interface Data transmission Immediate response Navigation and maneuvering Distance sensing Self-locating Plotting  robot location only&_40Software Functionality: Mapping and Maneuvering11( `5+Software Functionality: Immediate Response,,( /$%&(:<FGHIJ K$M+T,U-V/W0X1Y2a3b4c5d6e7 ` 3` ff>>\fg` J*T333` QYmx~3ft` \ғhEy`` cb^DDf`Y˵W` sg7xGr` K%ޯd{mG/` 33f>?" dd@,?nFd@    @ `  n?" dd@   @@``PR    @ ` `<p>> P(    6 #" `b `  X*   6` #" `` `  Z* xT ~  "~\ {  "{  c BB CDEFd @ bb   H   T W6Vw}\gFQ6<1++11 1L b6xQrq 6\}N   - c    0 A Q g     S    6N KawF bFy0 a*ly7lE;uz  B | a F 0 ! 1 < B < & l L 0  @`"T   c |BC+DEFyd @ ==gL6cI}\eA& w6m!W<! &<W!r6W}F6\}>68QNlX^XH8+Sgg|@`"Jo 5 J   B! 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QYmx~3ft___PPT10i.#'+D=' = @B +$ 0 P4(  d  c $   4  s *4 0  4  H  0޽h ? 3380___PPT10. ir| 0 p(  d  c $     s * 0   v@Good morning. My name is Stephanie Luft, and I m here to tell you about my proposed senior project, a Self-Mapping Mobile Robot. My advisor is Dr. Malinowski. H  0޽h ? 3380___PPT10. x 0 $(  $d $ c $    $ s *\Ϥ 0   r^Today I ll cover the project overview, progress made to date, future project work, and a revised schedule. There should be plenty of time at the end for you to ask questions.H $ 0޽h ? 3380___PPT10.@ 0 4(  4d 4 c $    4 s *@ 0   }The initial objective of my project is to develop a robot that will map an area of its environment, then locate itself within the map and orient itself within the environment. Now, for reasons that I will explain shortly, my project is somewhat behind schedule. However, at this point, barring any other significant obstacles, I think I can still expect to meet these objectives.H 4 0޽h ? 3380___PPT10.@BN 0 LD(  d  c $   8  s *X 0   The schedule for the remainder of the semester is tight, but still possible to meet, again barring any major obstacles between now and the Expo.O=H  0޽h ? 3380___PPT10. $ 0 4(  d  c $     s * 0    H  0޽h ? 3380___PPT10. $ 0 4(  d  c $     s * 0    H  0޽h ? 3380___PPT10.@\ 0 l(  d  c $     s *8  0   VBI have made some important progress towards my project objectives.H  0޽h ? 3380___PPT10.@D 0 T(  d  c $     s * 0   >*Of course, there is still work to be done.H  0޽h ? 3380___PPT10.@ 0   (  d  c $     s * 0   rFinally, due to unforeseen problems with the laser meters, illness, etc., the schedule has required some revision.H  0޽h ? 3380___PPT10.@! 0   (   d   c $      s *X 0   OIf you recall from the last time we met, the core of the self-mapping robot system consists of a robotic platform and a laptop, which interfaces to a laser distance meter and compass for orientation and mapping information. I had originally hoped to incorporate a remote PC for command and processing, but I think that this extra functionality will be moving outside of the scope of the project, and so all mapping and calculations will most likely be done on the laptop. However, we may still work off of a server connection, which will allow for expansion to a remote user in the future.HH   0޽h ? 3380___PPT10.0{" 0 /'@(  @d @ c $    @ s *`# 0   I have a start on hardware integration and the mapping software, but the main area of concentration until now has been on the distance sensing issue.H @ 0޽h ? 3380___PPT10.`x) 0 x(  xd x c $    x s *. 0   tFrom this point on, distance sensor design will take a back seat to the more important Mapping Software development.H x 0޽h ? 3380___PPT10.`x* 0 1)(  d  c $     s *4 0   uThe peripheral components of the system still need to be fully integrated through software so that they can be controlled by the robot, although I have made a few initial attempts at understanding them. The robot can be used as a power source for these components, although this will require some additional wiring work (probably on the part of Mr. Schmidt or Mr. Mattus).mH  0޽h ? 3380___PPT10.`x+ 0 ~ (  d  c $   r  s *|? 0   The Mapping software is currently in the design phase. I have created flowcharts, which I presented the last time we met, and I am investigating a method used at Dartmouth to create maps in MATLAB with distance and compass information.H  0޽h ? 3380___PPT10.`x- 0 `(  d  c $     s *F 0   &The laser distance meter issue has, until just this week, threatened to overshadow the rest of the project. Fortunately, that issue is under control now, and I can move on to other aspects. The main problem was that no one anticipated the difficulty we would have in finding the product we wanted on the market. Unfortunately, laser distance meters that fit the needs of this project are pretty much impossible to find. So Nick found a method of creating our own with a laser pointer and a webcam, and that seems to be feasible. It required much more processing and integration work than I had anticipated, but just this week I was finally able to develop an image processing algorithm that finds the laser dot in a snapshot. Dr. Malinowski and I had originally discussed using C++ for the project, however for capturing images, MATLAB and Simulink are by far easier to use, and so I decided to switch coding languages for the majority of the project. There will still be some C++ used for controlling hardware, and this will be integrated using Simulink.> dH  0޽h ? 3380___PPT10.`x. 0 (  d  c $     s *lV 0   The hardware will have to be physically mounted and connected to power, and software will need to fully control the components.H  0޽h ? 3380___PPT10.`xO/ 0 _(  d  c $     s *(` 0   I5The distance sensor will be completed with further testing of the image processing and the development of the actual distance calculation and calibration. Of course, this will have to be integrated with the PTU on which the laser pointer-webcam unit will be mounted, as well as with the rest of the software.H  0޽h ? 3380___PPT10.`x0 0 *(  d  c $     s *i 0   The mapping software will be the main focus of the rest of the semester, as it is the core of the project. It is still in the early design and development stage, and so I will be making a concerted effort to create code that is easily debugged and tested.H  0޽h ? 3380___PPT10.`x1 0 "(  d  c $   ~  s *8q 0   The system will have three main functions: mapping, maneuvering, and immediate response, which I will describe in more detail shortly. The software is going to be written in a high-level language: C++, MATLAB, or possibly a combination of the two.H  0޽h ? 3380___PPT10.`xx 2 0 (  d  c $     s * y 0   r8In the Mapping mode, the software will take in data from the compass and the distance sensor and then plot the environmental data points and the robot s location on the map. This will require the functionalities listed: Distance sensing to read data from the distance sensor and compass  Immediate response obstacle avoidance, including a warning signal Data transmission over the wireless connection Plotting the map to create the visual representation of the robot s environment and showing its location Self-locating to determine the robot s location within the environment and within the map Previous map identification to allow the robot to recognize a location that it has  seen before Navigation and maneuvering using semi-random motion. This is an idea I borrowed from one of the U of I projects, and it will allow the robot to maneuver itself through tight spaces without bumping into obstacles in the process.H  0޽h ? 3380___PPT10.03 0 tl (  d  c $   `  s * 0   The Maneuvering mode is similar to the mapping mode. The system will allow the user to control the robot from the remote PC. This means that the software will need the listed capabilities: A user interface to allow the user to command the robot to map an area and to display the map to the user. Data transmission over the wireless connection  Immediate response obstacle avoidance, including a warning signal Navigation and maneuvering Distance sensing to read data from the distance sensor(s) and compass Self-locating to determine the robot s location within the environment and within the map Plotting the robot s location on the map, it won t be necessary to plot environmental data points for this mode. H  0޽h ? 3380___PPT10.p54 0 d\@(  d  c $   P  s * 0   This slide shows the flow-chart for the main operation of the robot system. This includes the Mapping and Maneuvering modes, under either automatic or user control, as well as warnings for low battery.H  0޽h ? 3380___PPT10.p(5 0 `(  d  c $     s *  0   This is the flowchart for what I call the immediate response system. 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