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Design and Implementation of Cooperative Mobile Robots

Design and Implementation of Cooperative Mobile Robots. G. B. Lush and Gustavo A. Martinez Electronic Devices Laboratory Department of Electrical and Computer Engineering University of Texas at El Paso El Paso, TX 79968 lush@ece.utep.edu Space and Robotics 2002

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Design and Implementation of Cooperative Mobile Robots

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  1. Design and Implementation of Cooperative Mobile Robots G. B. Lush and Gustavo A. Martinez Electronic Devices Laboratory Department of Electrical and Computer Engineering University of Texas at El Paso El Paso, TX 79968 lush@ece.utep.edu Space and Robotics 2002 Albuquerque, New Mexico, March 17-20, 2002

  2. Cooperative Mobile Robots Introduction • Background Ideas • Design • Hardware • Performance • Summary Space and Robotics 2002, Albuquerque, New Mexico, March 17-20, 2002

  3. Cooperative Mobile Robots Background • Why simplicity? • Robots as logic devices. • Ability to switch tasking useful. • Can change behavior without changing entire system. • Teams of assembly robots; each has simple task; sum total results in assembly. Space and Robotics 2002, Albuquerque, New Mexico, March 17-20, 2002

  4. Cooperative Mobile Robots Modules • Motor • Sensor • Camera • Brain or “Personality chip” Space and Robotics 2002, Albuquerque, New Mexico, March 17-20, 2002

  5. Cooperative Mobile Robots Motor Module • Two bi-directional servomotors drive rubber wheels. • Forward fast / Forward slow. • Reverse. • Turn right hard / Turn right soft. • Turn left hard / Turn left soft. Space and Robotics 2002, Albuquerque, New Mexico, March 17-20, 2002

  6. Cooperative Mobile Robots Sensor Module • Two sensors included, each handled equally in terms of how brain reacts to signals: • Proximity sensor. • Mechanical touch sensor. • Each sends message to brain if obstacle detected. Space and Robotics 2002, Albuquerque, New Mexico, March 17-20, 2002

  7. Cooperative Mobile Robots Camera Module • Monochromatic CCD camera. • Covered by long-pass infrared filter. • Field of view only changes when robot direction/orientation changes. • Camera send pixel intensity matrix to processing component. • Module sends left/right hard/soft commands • Strives to center brightest pixels. Space and Robotics 2002, Albuquerque, New Mexico, March 17-20, 2002

  8. Cooperative Mobile Robots “Personality chip” Module • “Personality chip” is a state machine. • Takes on Role of Predator or Prey. • Simple tasks for our first venture. Space and Robotics 2002, Albuquerque, New Mexico, March 17-20, 2002

  9. Cooperative Mobile Robots Block Diagram Space and Robotics 2002, Albuquerque, New Mexico, March 17-20, 2002

  10. Cooperative Mobile Robots Modes of operation • Search--move forward looking for prey, then Rotate if no prey found. • Rotate--related to search mode. Ninety degree rotation looking for prey. Switch to Search if no prey found. • Avoid--if obstacle detected, move away from obstacle until no longer detected. • Seek--pursuit. A target is found, move toward it. Space and Robotics 2002, Albuquerque, New Mexico, March 17-20, 2002

  11. Cooperative Mobile Robots Performance • Always able to find prey • Always saw prey as long as within 8 feet • Though sometimes distracted by bright lights or windows. • Long pass infrared filter cut down on false pursuits. Space and Robotics 2002, Albuquerque, New Mexico, March 17-20, 2002

  12. Cooperative Mobile Robots FLEX10K20 PL Device • FLEX10K20 Programmable Logic chip • 20,000 gates (up to 250,000 in FLEX series) • Volatile memory • Faster operation needed for camera data Space and Robotics 2002, Albuquerque, New Mexico, March 17-20, 2002

  13. Cooperative Mobile Robots MAX7128S PL Device • MAX7128S programmable logic chip • Processes signals for the motors • Controls infrared beams and receives signals • Smaller but slower chip • Holds its programming (non-volatile) • 600-10,000 usable gates in 7000 series Space and Robotics 2002, Albuquerque, New Mexico, March 17-20, 2002

  14. Cooperative Mobile Robots EPC1 Configuring Device • EPC1 Configuring Device holds the programming or “Personality.” • Non-volatile memory • Newer chips in series can hold as many as eight dynamically loadable programs or “personalities.” Space and Robotics 2002, Albuquerque, New Mexico, March 17-20, 2002

  15. Cooperative Mobile Robots Summary • Relatively complex tasks can be exhibited with minimal programming. • Programmable logic hardware allows robot design with easily changed tasking • Predator-Prey roles behaved as programmed Space and Robotics 2002, Albuquerque, New Mexico, March 17-20, 2002

  16. Cooperative Mobile Robots References www.altera.com Paul Trachtman, “Redefining Robots,” Smithsonian Magazine, February 2000. Barry Brian Werger, “Cooperation without deliberation: A minimal behavior-based approach to multi-robot teams,” Artificial Intelligence, Vol. 110, pp. 293-320, 1999. Rodney A. Brooks, “A Robust Layered Control System For A Mobile Robot,” IEEE J. of Robotics and Automation, Vol. RA-2, No. 1, March 1986. Space and Robotics 2002, Albuquerque, New Mexico, March 17-20, 2002

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