Multi-Robot Project

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Multi-Robot Project

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1. Multi-Robot Project Blake Birmingham, Marcus Yazzie, Michelle Paynes, Nathan Kiel, Patrick Murphy, Marc Nixon

3. Goal Develop a low cost modular autonomous robotic platform based on iRobot Create. We are to develop a group of unmanned ground vehicles during 2010-2011 school year. We plan to have a working prototype by the end of the 1st semester. We would then duplicate the robot and create two to three more unmanned ground vehicles creating a group of networked autonomous robots by the end of the 2nd semester. The robot will be implemented on the iRobot Create using the open source Robotic Operating system in Linux.

4. The Components iRobot create platform Control computer (Gumstix) Laser range finder Pan-tilt camera system RFID reader Mounting system Sonar sensor (optional) Hummingbird autopilot UAV AMA membership w/ insurance

5. iRobot Create Platform 3000 mAh battery 5 v and 18 v power for add-ons Should Power the components for at least 20 minutes We’ll be choosing the add-ons ourselves Fixed requirement by sponsor

6. Design Considerations Netbook vs Embedded Netbook: Pros Higher processing capabilities Onboard battery Cons No embedded system I/O (RS232, I2C, SIP, etc) All I/O functionality must be provided via USB peripherals, which will likely require an attached USB hub Embedded: Pros Very low weight and small size Integrated embedded system I/O (I2C, SIP, RS232) Most have USB ports. Cons May require a USB attached hub to support all the robot components. No on-board battery.

7. Gumstix Overo Fire Wireless Pack OMAP3530 processing Bluetooth 802.11(b/g) wireless communications High speed USB Host & OTG 8GB of storage 3.5" touch screen LCD display.

8. Hokuyo URG-04LX Laser Range Finder Power source: 5V Current consumption: 0.5A, current consumption (Rush current 0.8A) Detection range: up to approx 4m Scan time: 100 msec/scan (10.0Hz) Resolution: 1mm Angular resolution: 0.36 degree Interface: USB 2.0 or RS232 Weight: 1 lbs

9. Camera Options Surveyor Stereo Vision System

10. Design Considerations Camera Firewire Stereo Cameras: Pros Support is already implemented in ROS. Cons Very expensive Very difficult to find a computer or embedded system with an IEEE 1394 port. Wi-Fi Stereo camera Pros Uses Wi-Fi instead of IEEE1394 making it accessible for any of the proposed computers Cons Will require some hacking to integrate with ROS. It is a risk as we do not know what kind of development time may be necessary to integrate the camera. Mono camera Pros Fairly inexpensive but requires an add-on pan-tilt feature for most models. Cons Has no stereo vision capabilities Most models do not have pan-tilt functionality. Requires add-on pan-tilt.

11. Final Camera Choice: Surveyor Stereo Vision System Two SRV-1 Blackfin Cameras with 90-deg FOV lenses Interprocessor communications via SPI bus (64MHz) WiFi communication via Lantronix Matchport WLAN 802.11g radio w/onboard 3dB dipole antenna Dual H-bridge motor driver (Fairchild FAN8200) with 1000mA capacity per motor Headers for 8 servos (5V regulator provided)

12. Design Considerations RFID Considerations for RFID reader: Acceptable Range Price Existing support in Robotic Operating System.

13. Phidget’s RFID Reader Range of 4 inches Reads at 125 kHz 5V output +5V LED output for driving an external LED. An onboard LED on the board (Green). Added ability to turn off RFID as desired. Reads EM4102 type tags

14. Mounting System Will either be designed by us or we could commission a machine shop. Previous iRobot Create projects have made mounts from: Plexiglas Metal Brackets Wood ETC

15. Plexiglas Example Simple design ¼ inch Plexiglas Cut using power jigsaw Held down using four 3" bolts with 2 x 1" nylon standoffs

16. Wood Example More complicated Laser cut wooden box Constructed using CAD design Would most likely require a machine shop

17. Maxbotix LV-MaxSonar-EZ4 High Performance Sonar Module Ranges from 6" to 254" (6.45m) Serial (0-5V), Analog Voltage or Pulse Width interfaces 2.5cm (1") Resolution 22.1x19.9x16.4 mm Optional component

18. AscTec Hummingbird Research Pilot Max Speed: 50 km/h Launch Type: VTOL Operating Altitude: 50 meters Max Flight Time: 20 minutes Max Payload: 200 g Xbee wireless

19. Academy of Model Aeronautics Membership Required to legally fly the UAV in Arizona Includes access to all AMA sanctioned fields Also includes liability insurance

20. Budget

21. Alternative Designs

22. Alternative Designs

23. Schedule

24. Milestones/Deliverables Hardware One fully assembled robot with all hardware equipment (shown in Budget section) mounted onto the robot. The robot should be able to autonomously navigate to some arbitrary destination using sensors.   Software Source code for the robot properly commented and explained. Documentation Decision on hardware parts with documentation Midterm Report and Presentation Any software documentation of existing ROS packages or functions that we used for our robot. Block diagram of the system representing all important parts and functions in our system. Proof of permit and liability insurance from the Academy of Model Airplanes for the person flying the UAV. Final Report and presentation

25. Literature Review Qbot: An Educational Mobile Robot Controlled in MATLAB Simulink Environment Describes framework of an educational robot Qbot Utilizes Quanser's Mobile Robot Control Framework (QMRCF), a set of libraries used to develop navigation and behavioral algorithms Researchers used QMRCF to create both autonomous and non-autonomous control for Qbot When autonomous, the robot can be given a map, a series of waypoints and be left to its own devices to reach each waypoint

26. Conclusion/Closing Questions/Comments?

27. References Huq, Rajibul, Lacheray, Hervé, Fulford, Cameron, Wight, Derek, Apkarian Jacob, Qbot: An Educational Mobile Robot Controlled in MATLAB Simulink Environment, Markham, ON, Canada.

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