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Graphics work.Self-Mapping Mobile RobotSenior Capstone Project Proposal Department of Electrical and Computer Engineering Bradley University Advisor: Dr. A.Malinowski Presented by Stephanie Luft 06 December 2005Pu 0Presentation OutlineqProject Overview Review of Previous Work System Block Diagram Software Functionality Equipment Schedule QuestionsPresentation OutlineqProject Overview Review of Previous Work System Block Diagram Software Functionality Equipment Schedule Questionsra  Project 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 Presentation OutlinerProject Overview Review of Previous Work System Block Diagram Software Functionality Equipment Schedule Questions *sJ  Review of Previous WorkGuideBot Capstone Project 2005 John Hathway and Daniel Leach Thesis:  Concurrent Map Building and Self-Localization for Mobile Robot Navigation Thomas Duckett, Manchester, United Kingdom University of Illinois Mechatronics Lab Projects http://coecsl.ece.uiuc.edu/ge423/spring04/group7/group7.html http://coecsl.ece.uiuc.edu/ge423/spring03/Group7/index.html#_Toc40283479T,2T,2  Hn6  Presentation OutlineqProject Overview Review of Previous Work System Block Diagram Software Functionality Equipment Schedule Questions*r)4 System Block Diagram 0System Block Diagram 1System Block Diagram 2System Block Diagram  Presentation OutlinerProject Overview Review of Previous Work System Block Diagram Software Functionality Equipment Schedule Questions *s> Software FunctionalityEFunctional Modes: Mapping Maneuvering Immediate Response C++/MATLAB 6( ( Software: 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&""Software: Maneuvering ModeTAllow user to control robot User interface Data transmission Immediate response Navigation and maneuvering Distance sensing Self-locating Plotting  robot location only& 0Software Functionality: Mapping and Maneuvering11( +Software Functionality: Immediate Response,,( Presentation OutlinerProject Overview Review of Previous Work System Block Diagram Software Functionality Equipment Schedule Questions *sU  Equipment!ActiveMedia Pioneer 2 mobile robotic platform Laptop computer with wireless connection Digital compass Remote PC with network connection Laser distance meter Pan-tilt unit Appropriate connectors for all equipment MATLAB, Visual Studio, and/or another type of software development system."Z" $Equipment: Distance Meter Selection%%(Considerations: Cost Accuracy Measurable distance: a 0.2 to 10 meter range Safety Weight Computer interface Availability TLM 100 feasibility investigation<ZjZ"Zj"Presentation OutlinerProject Overview Review of Previous Work System Block Diagram Software Functionality Equipment Schedule Questions 2s_ Schedule Self-Mapping Mobile RobotSenior Capstone Project Proposal Department of Electrical and Computer Engineering Bradley University Advisor: Dr. A.Malinowski Presented by Stephanie Luft 06 December 2005Pu 0/ !"$%&'( ) * + , 345789:;<= ` 3` ff>>\fg` J*T333` QYmx~3ft` \ғhEy`` cb^DDf`Y˵W` sg7xGr` K%ޯd{mG/` 33f>?" dd@,?nFd@    @ `  n?" dd@   @@``PR    @ ` `<p>> (    66 #" `b ` 6 X*   66 #" `` ` 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.5+D=' = @B + 3 z(  x  c $4  `}     HA P? ?"6@ NNN?N(P PH  0޽h ? QYmx~3ft___PPT10i.5+D=' = @B + 3 z(  x  c $Ĥ  `}     HA R? ?"6@ NNN?N(P RH  0޽h ? QYmx~3ft___PPT10i.5+D=' = @B + 3 p(0(  (x ( c $8  `}   x ( c $P`  H ( 0޽h ? QYmx~3ft___PPT10i.`o+D=' = @B +3 3 JBD(  Dx D c $Te  `}    D B ?"6@ NNN?Nr D S ܬ `   H D 0޽h ? QYmx~3ft___PPT10i.5+D=' = @B +3 3 JBP(  Px P c $  `}    P B ?"6@ NNN?Nr P S L`  H P 0޽h ? QYmx~3ft___PPT10i.5+D=' = @B +9 3 PH T(  Tx T c $ B  `}  B  T B ?"6@ NNN?Nx T c $(  h~ h s *kZ `  Z ~ h s *@Z @@ Z  h <7Z P &Questions? sluft@bradley.edu*' , (H h 0޽h ? 33___PPT10i.%ߵ+D=' = @B +p 0 p(  p^ p S 4   Z p c $,Z4 0  Z 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 p 0޽h ? 3380___PPT10.  0 F>t(  t^ t S 4   Z8 t c $Z4 0  Z Today I ll cover the project overview, a review of previous work, the system block diagram, the software functionality, the required equipment, the proposed schedule, and then there will be time for questions at the end.H t 0޽h ? 3380___PPT10.@  0 >6x(  x^ x S 4   Z0 x c $زZ4 0  Z The 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. Eventually, a robot like this would be able to take an existing map, pinpoint its location, and then navigate to a different area of the map at the command of a user. It would also be able to take a reading of its environment, compare it to stored maps, and determine if it s in a familiar environment.H x 0޽h ? 3380___PPT10.@BNJ  0 |Z(  |^ | S 4   Z | c $dZ4 0  Z PThis project branches off of last year s GuideBot project by John Hathway and Dan Leach. They used the same platform to develop a robot that could guide a user to a selected faculty office in the EE department. Two of the problems that John and Dan ran into were wheel slipping on the tile floors and sensor inaccuracy. The robot comes with six ultrasonic sensors grouped in a forward-facing, level arc. This project is attempting to eliminate the sensor issue by purchasing a new laser sensor, which will be more accurate and have a longer measuring range. I ll talk more about distance sensors a bit later. The other two references were supplied to me by Dr. Malinowski, and have provided some ideas for how to approach the mapping and locating algorithm.>)R WH | 0޽h ? 3380___PPT10. t   0  (  ^  S 4   Z  c $Z4 0  Z This slide shows the system block diagram. The core of the system is the robotic platform with a laptop interface. The laptop connects to a remote computer through the local wireless, which transfers the majority of the processing burden to the faster computer and also allows the user to control the robot from a workstation. The laser distance sensor and the digital compass will be used to map an area and orient the robot within it. Eventually, the use of the compass will also help the robot to recognize areas that it has previously mapped. The outputs of the system are robot movement, of course, and an audio warning should the robot sense itself to be in danger of being run into, trapped in a small enclosed space, or about to roll down a flight of stairs. On the remote PC, the user will be able to see the map created, which will include the robot s location. (HH  0޽h ? 3380___PPT10.0{  0 ~(  ^  S 4   Zx  c $|Z4 0  Z 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.`xl  0 |(  ^  S 4   Z  c $Z4 0  Z 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___PPT10.0 0 h`(  ^  S 4   [Z  c $X[4 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.p5  0 XP(  ^  S 4   [J  c $[4 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( 0  (  ^  S 4   [  c $ [4 0  [ This is the flowchart for what I call the immediate response system. This will run something like an interrupt, and alert the user if an object is too close for the robot to avoid hitting it if it moves, or if there are any other problems. Essentially, the robot emits an audio warning and then waits either for that to scare away the problem or for the user to come take care of it.H  0޽h ? 3380___PPT10.@7o@ 0 h`0(  ^  S 4   [Z  c $$Z4 0  [ This is the equipment list for the project. Most of them have already been discussed or are fairly self-explanatory. The pan-tilt unit will be used to rotate the laser sensor in a nearly 360-degree circle, and also allows it to scan vertically. This will allow for more efficient mapping than would be available with the existing sensor set-up, and will also allow the robot to map in 3D and detect stairs or head-level obstacles if it eventually is able to guide a user.H  0޽h ? 3380___PPT10.nP 0 @`(  ^  S 4   [  c $/[4 0  [ VThe distance meter selection process has been a major focus of the preliminary project work. The sensors that came with the robot were, as I mentioned earlier, somewhat limited, both in range and accuracy. So Dr. Huggins agreed to let me investigate alternative sensors. Dr. Malinowski and I agreed that the best option would be a laser sensor, which is much more accurate and could have a longer range. With the pan-tilt unit, only one sensor is necessary. The major considerations for choosing a sensor are listed on the slide. Of course, Cost is a key factor. It should be as low as possible and the best value for the project requirements. Accuracy is the primary reason for choosing a laser sensor as opposed to an ultrasonic model. Measurable distance: a 0.2 to 10 meter range is the idea minimum specification; a longer range would be even better. Safety: lasers above class II may require eye protection, which would be less than convenient and would limit the use of the laser to low-level measurements to avoid catching any innocent bystanders in the face. Weight: The pan-tilt unit can support a limited mass, and additional weight slows the robot and more quickly drains the batteries. Ability to interface with the computer. Availability. So I ve looked at several types of laser distance meters. The option I m currently considering a construction-type hand-held distance meter. It s relatively inexpensive, but it requires a button press to start a measurement. Since my robot doesn t have fingers, this is going to take much more interfacing work than a more expensive sensor. Right now, I m doing a feasibility investigation on a CST/Berger TLM 100 laser distance meter, which you can actually buy at Home Depot now. Essentially, we re doing a trial-run to see if it s possible to run the meter by breaking open the casing and reading or driving the internal signals.0ZZZu  UH  0޽h ? 3380___PPT10. V 0 Pf(  ^  S 4   [  c $Lj[4 0  [ \HThis is the proposed schedule, subject of course to changes as required.H  0޽h ? 3380___PPT10. & 0 `6(  ^  S 4   [  c $4[4 0  [ ,Are there any questions?H  0޽h ? 3380___PPT10.  6 0 F(  d  c $4   [  s *8r[4 0  [ 0The core of the system is the robotic platform with a laptop interface. The laptop connects to a remote computer through the local wireless, which transfers the majority of the processing burden to the faster computer and also allows the user to control the robot from a workstation.H  0޽h ? 3380___PPT10.0{ 0 vn(  d  c $4   [b  s *|x[4 0  [ The laser distance sensor and the digital compass will be used to map an area and orient the robot within it. Eventually, the use of the compass will also help the robot to recognize areas that it has previously mapped.H  0޽