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Autonomous Mapping Robot

Autonomous Mapping Robot. Worcester Polytechnic Institute Department of Electrical and Computer Engineering. Advisor: R. James Duckworth Co-Advisor: David Cyganski. Jason Ogasian Jonathan Hayden Hiroshi Mita. Overview. Project motivation Background material Robot functional overview

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Autonomous Mapping Robot

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  1. Autonomous Mapping Robot Worcester Polytechnic Institute Department of Electrical and Computer Engineering Advisor: R. James Duckworth Co-Advisor: David Cyganski Jason Ogasian Jonathan Hayden Hiroshi Mita

  2. Overview • Project motivation • Background material • Robot functional overview • Design requirements • The chassis • System electronics • Onboard sensors • Software implementation • Video demonstration of robot • Results and Recommendations Worcester Polytechnic Institute

  3. Project Motivation • Establish a need: search and rescue • How will the project fill this need? • Time and budget constraints • Leave room for future expansion • Allow room for additional functionality • Provide recommendations for future work Worcester Polytechnic Institute

  4. Background • Existing mapping robots • CMU 3D texture mapping • MobileRobots’ Mapperbot • Centibots • Commonalitieswith our design 3D texture mapping robot Mapperbot Centibots project Worcester Polytechnic Institute

  5. Robot Functional Overview- System Requirements - • Project goal: Atwater Kent 3rd floor • Autonomous operation • Sufficient battery life/efficiency • Capable microprocessor • Wireless communication • Host software: Mapping GUI Worcester Polytechnic Institute

  6. Robot Functional Overview- High-level Diagram - Worcester Polytechnic Institute

  7. Robot Functional Overview- Robot Chassis - • Requirements • Size • Wheels • Motors • Purchasing vs. building • Focus on ECE aspects of design Zagros Robotics: Max ’99 Mobile Robot Base. Worcester Polytechnic Institute

  8. Robot Functional Overview- System Electronics - • Development board • Microprocessor (Linux) • USB and Ethernet • Custom PCB • Power circuitry • Wireless module • Interface sensors withdevelopment board Olimex SAM9-L9260 Custom PCB Worcester Polytechnic Institute

  9. Robot Functional Overview- Onboard Sensors- • Onboard Sensors • Optical encoders • Dead reckoning • Inertial Measurement Unit • Accelerometer and Gyroscope • Ultrasonic sensors • Short-range navigation • Laser Rangefinder • Mapping Fairchild QRB1134 Custom IMU Devantech SRF05 Hokuyo URG-04LX Laser Worcester Polytechnic Institute

  10. Robot Functional Overview- Software Implementation - • Communication code • Socket API • Robot code • Sensor scheduling • Sensor drivers • Navigation algorithm • Host application • Graphical user interface • Real-time Operation Worcester Polytechnic Institute

  11. Graphical Map Display Worcester Polytechnic Institute

  12. Video Demonstration Worcester Polytechnic Institute

  13. Results and Recommendations • Final product capabilities • Autonomous operation • Wireless data transfer • GUI map displayed to user • Systems working together to generate a map • Positional data error of 5.6% • Suggestions for future work • Human detection capability • More robust chassis • Improved navigation algorithm Worcester Polytechnic Institute

  14. Acknowledgements Thanks to: • Professors Duckworth and Cyganski • ECE Shop • WPI Department of Electrical and Computer Engineering Worcester Polytechnic Institute

  15. Questions? Worcester Polytechnic Institute

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