1 / 26

DO NOT FEED THE ROBOT

DO NOT FEED THE ROBOT. The Autonomous Interactive Multimedia Droid (GuideBot) Bradley University Department of Electrical and Computer Engineering EE-452 Dan Leach and John Hathway Advisor: Aleksander Malinowski May 3rd, 2005. Outline. Project Overview Previous Work

alvin-bond
Download Presentation

DO NOT FEED THE ROBOT

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. DO NOT FEED THE ROBOT

  2. The Autonomous Interactive Multimedia Droid (GuideBot) Bradley University Department of Electrical and Computer Engineering EE-452 Dan Leach and John Hathway Advisor: Aleksander Malinowski May 3rd, 2005

  3. Outline • Project Overview • Previous Work • Project Description • Flash interface • Navigation • Implementation • Remaining Work • Questions

  4. Overview • Features • Friendly touch screen interface • Auditory and visual greetings • Pioneer 2 robot platform by ActivMedia

  5. Applications Museums Malls

  6. Pioneer 2 Features • GuideBot uses Saphira and PAI software supplied by ActivMedia for control of movement and other functions • Eight sonar transducers are positioned in a ring around the front of GuideBot • PAI software controls all rotational and translational movement, along with taking in sonar data • Onboard heading information allows for precise turning • Onboard distance is read from wheel encoders

  7. System Block Diagram Sensor Data User Input Via Touch Screen PC Pioneer 2 Robotic Platform Movement of Platform Mapping Data Display Output Audio Output

  8. Previous Work Java-based Manual Web Control

  9. Data Flow Diagram Serial Port Saphira Code On Pioneer2 Flash XML Socket C-based Robot Server TCP/IP

  10. Graphical User Interface

  11. Graphical User Interface

  12. Graphical User Interface

  13. Graphical User Interface

  14. Graphical User Interface

  15. Finding Dr. Huggins

  16. Mapping File • Index,Name,Floor,Lane,X,Y,Crosses To,Is A Stop,Is A Patrol,Type,Manual Commands • 0,Origin,3,1,0,0,1,1,1,1,0; • 1,SEStairwell,3,1,191,0,1,1,0,1,0; • 2,MalinowskiHW,3,1,762,0,0,1,0,0,0; • 3,WRestroom,3,1,1219,0,0,1,0,0,0; • 4,Room327,3,1,1661,0,0,0,0,0,0; • 5,Room326,3,1,2377,0,0,0,0,0,0; • 6,RFHW,3,1,2682,0,1,0,0,0,0; • 7,NEStairwell,3,1,3139,0,1,0,1,0,0; • 8,SWindow,3,2,0,183,1,0,0,0,0; • 9,Room330,3,2,747,183,0,0,0,1,0; • 10,Prasad,3,2,1036,183,1,1,0,0,0; • …

  17. Finding Dr. Shastry

  18. Waypoint Detection • Doorframes, open hallways, wall drop-offs • Waypoint checked every 300 ms using one sonar transducer • Waypoints are only looked for when GuideBot is within a predefined range of the waypoint • Offices and other sites that are considered waypoints that have no distinguishable features will be found using the nearest waypoints and the distance GuideBot has traveled • Most doorframes have a 9cm drop off between the wall and door which is large enough to check with the sonar transducers 9 cm

  19. Waypoints

  20. Collision Avoidance • Front two sonar transducers are used to detect objects and obstacles in GuideBot’s path • Threshold distance of 1 meter is used for objects in path • If there is an obstruction, wait 30 seconds for object to move from path • Try to navigate around object if it does not move and continue on path

  21. Waypoint Detection and Collision Avoidance

  22. Drift Correction • GuideBot is designed to follow a straight path to its destination • Problems with drifting have been observed and a method for correction has been devised using trigonometry • driftangle = (atan2(driftdist, xdistance)) -2Θ Y Θ X Y’ Wall

  23. Drift Correction

  24. Remaining Work • Implement hallway crossing • Implement manual waypoint paths • Add additional GUI interaction / motion sensing

  25. Guiding Down The Hallway

  26. Questions? More detailed information can be found at: http://cegt201.bradley.edu/projects/proj2005/guidebot/

More Related