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Mobile Robot Control using Bluetooth Low Energy

Mobile Robot Control using Bluetooth Low Energy. Bachelor Thesis – Till Riemer. Contents. Concept and Requirements Project Background Software Design Realization Conclusion and Outview. Concept. Real- world usage scenarios

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Mobile Robot Control using Bluetooth Low Energy

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  1. Mobile Robot Controlusing Bluetooth Low Energy Bachelor Thesis – Till Riemer

  2. Contents ConceptandRequirements Project Background Software Design Realization ConclusionandOutview

  3. Concept Real-worldusagescenarios Agriculture/cleaningvehiclesfor limited spaceenvironments Consumer Electronics SWAT / Rescueoperations Cameracontrol / Fly Cam Archeologyexploration

  4. Concept Requirements Designedfor Hardware available on stock formassproduction Extendabilityandportability Peripheraltotallyremotelycontrollable Controlinterfaceusableby non IT experts Focus on power savingandspeed in accordance

  5. Background Bluetooth Short-distancewirelesscommunicationprotocol Currentlyversion 4.0 (introduced LE) Consistsofseverallayers (profiles): • Physical (2,4Ghz band) • L2CAP • GAP (Piconet/Master/Slave) • ATT(GATT) (Client/Server) • HCI • …

  6. Background Bluetooth Low Energy Extension to Bluetooth standard Same frequency band andbasicprotocols Reducedamountofadjustedprofiles Energysavingthroughshorterdevicediscoveryandsleepmode

  7. Background ParallaxSumobot Devkitforrobotsparticipating in Sumobotcontest BASIC stampcontroller, easilyextendable Atmel AVR Butterfly Embedded boardbased on Atmega 169V MCU U(S)ART interface (no HW flowcontrol) 1x 16bit, 2x 8-bit HW timerwith PWM support -> power supplychangedtoSumobot 4x1.5V

  8. Background Texas Instruments CC2540 Embedded Development kitwith BLE stack on singlechip (8051 MCU) Embedded/UART and USB version Supportingsingle/dual CPU and Master/Slave mode Closed-Source OSAL, BLE stackprogrammable on all layers

  9. Background Apple iPhone 4S

  10. Software Design System Architecture

  11. Software Design Butterfly application Communication with CC2540 over HCI usingthe UART interface Receiving 1-byte movementcommandsover GATT, interpretingintopredefinedmovementactions example: Forward 1x -> GATT recv. 0x01 -> setMotorSpeed(50,50); Servocontrolusinghardwaretimer (PWM)

  12. Software Design

  13. Software Design CC2540 application Based on HostTestRelease sample projectby Texas Instruments Peripheral Mode Registered functions handle external Bluetooth Messages and HCI commands GAP on device, GATT transmissiontohostoverHCI

  14. Software Design iPhoneapplication Based on TI exampleapplication Model/View/Controller Delegator Buttons controling relative direction 3-step speedcontrol

  15. Realization iPhoneapplication Movementsaspredefineddistinctvalues Multi-tabview using Navigation Controller andSwipeGestureRecognizerobjects Movement buttonssending 1-Byte codeover GATT Severalimprovements such asstatus bar, different Connection interval etc.

  16. Realization CC2540 application Minor changes: • UART flowcontroldisabled • GATT forwardingover HCI • Peripheraldeviceconfiguration

  17. Realization Butterfly application Servosusing PWM timerlike in Sumobotproject UART: • one-time Oscillatorcalibration • Interrupt-driven UART driver + Message Queues HCI interface

  18. Conclusion Currentstate iPhoneapplicationmoreorlessdone, furtherimprovements Connection windowtobeoptimized GATT transmissionover HCI tbd Future testing

  19. Conclusion PossibleImprovements Controlinterface: • 3-axis gravitysensorcontrol • Fluent 2D-space movement (-> Diablo) • Speech recognition (Siri?) Authorization / AES encryption XML datatransmissionprotocol Efficienceanalysisand power savingoptimization

  20. Thankyouforattending!

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