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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
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:
Higher processing capabilities
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
Very low weight and small size
Integrated embedded system I/O (I2C, SIP, RS232)
Most have USB ports.
May require a USB attached hub to support all the robot components.
No on-board battery.
7. Gumstix Overo Fire Wireless Pack OMAP3530 processing
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)
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:
Support is already implemented in ROS.
Very difficult to find a computer or embedded system with an IEEE 1394 port.
Wi-Fi Stereo camera
Uses Wi-Fi instead of IEEE1394 making it accessible for any of the proposed computers
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.
Fairly inexpensive but requires an add-on pan-tilt feature for most models.
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:
Existing support in Robotic Operating System.
13. Phidget’s RFID Reader Range of 4 inches
Reads at 125 kHz
+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:
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
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
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
21. Alternative Designs
22. Alternative Designs
23. Schedule http://multirobotproject.com/attachments/article/47/GanttChart.pdf
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.
Source code for the robot properly commented and explained.
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 http://store.irobot.com/shop/index.jsp?categoryId=3311368
Huq, Rajibul, Lacheray, Hervé, Fulford, Cameron, Wight, Derek, Apkarian Jacob, Qbot: An Educational Mobile Robot Controlled in MATLAB Simulink Environment, Markham, ON, Canada.