do not feed the robot
DESCRIPTION
DO NOT FEED THE ROBOT. The Autonomous Interactive Multimedia Droid (GuideBot) Bradley University Department of Electrical and Computer Engineering EE-452 Dan Leach and John Hathway Advisor: Aleksander Malinowski May 3rd, 2005. Outline. Project Overview Previous Work - PowerPoint PPT PresentationTRANSCRIPT
![Page 1: DO NOT FEED THE ROBOT](https://reader036.vdocuments.site/reader036/viewer/2022081603/56813ff3550346895dab0c08/html5/thumbnails/1.jpg)
DO NOT FEED THE ROBOT
![Page 2: DO NOT FEED THE ROBOT](https://reader036.vdocuments.site/reader036/viewer/2022081603/56813ff3550346895dab0c08/html5/thumbnails/2.jpg)
The Autonomous Interactive
Multimedia Droid
(GuideBot)
Bradley University
Department of Electrical and Computer Engineering
EE-452
Dan Leach and John Hathway
Advisor: Aleksander Malinowski
May 3rd, 2005
![Page 3: DO NOT FEED THE ROBOT](https://reader036.vdocuments.site/reader036/viewer/2022081603/56813ff3550346895dab0c08/html5/thumbnails/3.jpg)
Outline
•Project Overview•Previous Work•Project Description
•Flash interface•Navigation•Implementation
•Remaining Work•Questions
![Page 4: DO NOT FEED THE ROBOT](https://reader036.vdocuments.site/reader036/viewer/2022081603/56813ff3550346895dab0c08/html5/thumbnails/4.jpg)
Overview
Features•Friendly touch screen
interface•Auditory and visual
greetings•Pioneer 2 robot platform
by ActivMedia
![Page 5: DO NOT FEED THE ROBOT](https://reader036.vdocuments.site/reader036/viewer/2022081603/56813ff3550346895dab0c08/html5/thumbnails/5.jpg)
Applications
Museums Malls
![Page 6: DO NOT FEED THE ROBOT](https://reader036.vdocuments.site/reader036/viewer/2022081603/56813ff3550346895dab0c08/html5/thumbnails/6.jpg)
Pioneer 2 Features•GuideBot uses Saphira and PAI software supplied by ActivMedia for control of movement and other functions
•Eight sonar transducers are positioned in a ring around the front of GuideBot
•PAI software controls all rotational and translational movement, along with taking in sonar data
•Onboard heading information allows for precise turning
•Onboard distance is read from wheel encoders
![Page 7: DO NOT FEED THE ROBOT](https://reader036.vdocuments.site/reader036/viewer/2022081603/56813ff3550346895dab0c08/html5/thumbnails/7.jpg)
Pioneer 2 Robotic Platform
PC
User Input ViaTouch Screen
Sensor Data
MappingData
Display Output
Audio Output
Movement of Platform
System Block Diagram
![Page 8: DO NOT FEED THE ROBOT](https://reader036.vdocuments.site/reader036/viewer/2022081603/56813ff3550346895dab0c08/html5/thumbnails/8.jpg)
Previous Work
Java-based Manual Web Control
![Page 9: DO NOT FEED THE ROBOT](https://reader036.vdocuments.site/reader036/viewer/2022081603/56813ff3550346895dab0c08/html5/thumbnails/9.jpg)
Data Flow Diagram
Flash XML Socket
C-based Robot Server
Saphira Code On Pioneer2
TCP/IPSerial Port
![Page 10: DO NOT FEED THE ROBOT](https://reader036.vdocuments.site/reader036/viewer/2022081603/56813ff3550346895dab0c08/html5/thumbnails/10.jpg)
Graphical User Interface
![Page 11: DO NOT FEED THE ROBOT](https://reader036.vdocuments.site/reader036/viewer/2022081603/56813ff3550346895dab0c08/html5/thumbnails/11.jpg)
Graphical User Interface
![Page 12: DO NOT FEED THE ROBOT](https://reader036.vdocuments.site/reader036/viewer/2022081603/56813ff3550346895dab0c08/html5/thumbnails/12.jpg)
Graphical User Interface
![Page 13: DO NOT FEED THE ROBOT](https://reader036.vdocuments.site/reader036/viewer/2022081603/56813ff3550346895dab0c08/html5/thumbnails/13.jpg)
Graphical User Interface
![Page 14: DO NOT FEED THE ROBOT](https://reader036.vdocuments.site/reader036/viewer/2022081603/56813ff3550346895dab0c08/html5/thumbnails/14.jpg)
Graphical User Interface
![Page 15: DO NOT FEED THE ROBOT](https://reader036.vdocuments.site/reader036/viewer/2022081603/56813ff3550346895dab0c08/html5/thumbnails/15.jpg)
Finding Dr. Huggins
![Page 16: DO NOT FEED THE ROBOT](https://reader036.vdocuments.site/reader036/viewer/2022081603/56813ff3550346895dab0c08/html5/thumbnails/16.jpg)
Mapping File
Index,Name,Floor,Lane,X,Y,Crosses To,Is A Stop,Is A Patrol,Type,Manual Commands
0,Origin,3,1,0,0,1,1,1,1,0;1,SEStairwell,3,1,191,0,1,1,0,1,0;2,MalinowskiHW,3,1,762,0,0,1,0,0,0;3,WRestroom,3,1,1219,0,0,1,0,0,0;4,Room327,3,1,1661,0,0,0,0,0,0;5,Room326,3,1,2377,0,0,0,0,0,0;6,RFHW,3,1,2682,0,1,0,0,0,0;7,NEStairwell,3,1,3139,0,1,0,1,0,0;8,SWindow,3,2,0,183,1,0,0,0,0;9,Room330,3,2,747,183,0,0,0,1,0;10,Prasad,3,2,1036,183,1,1,0,0,0;…
![Page 17: DO NOT FEED THE ROBOT](https://reader036.vdocuments.site/reader036/viewer/2022081603/56813ff3550346895dab0c08/html5/thumbnails/17.jpg)
Finding Dr. Shastry
![Page 18: DO NOT FEED THE ROBOT](https://reader036.vdocuments.site/reader036/viewer/2022081603/56813ff3550346895dab0c08/html5/thumbnails/18.jpg)
Waypoint Detection•Doorframes, open hallways, wall drop-offs
•Waypoint checked every 300 ms using one sonar transducer
•Waypoints are only looked for when GuideBot is within a predefined range of the waypoint
•Offices and other sites that are considered waypoints that have no distinguishable features will be found using the nearest waypoints and the distance GuideBot has traveled
•Most doorframes have a 9cm drop off between the wall and door which is large enough to check with the sonar transducers
9 cm
![Page 19: DO NOT FEED THE ROBOT](https://reader036.vdocuments.site/reader036/viewer/2022081603/56813ff3550346895dab0c08/html5/thumbnails/19.jpg)
Waypoints
![Page 20: DO NOT FEED THE ROBOT](https://reader036.vdocuments.site/reader036/viewer/2022081603/56813ff3550346895dab0c08/html5/thumbnails/20.jpg)
Collision Avoidance
•Front two sonar transducers are used to detect objects and obstacles in GuideBot’s path
•Threshold distance of 1 meter is used for objects in path
•If there is an obstruction, wait 30 seconds for object to move from path
•Try to navigate around object if it does not move and continue on path
![Page 21: DO NOT FEED THE ROBOT](https://reader036.vdocuments.site/reader036/viewer/2022081603/56813ff3550346895dab0c08/html5/thumbnails/21.jpg)
Waypoint Detection and Collision Avoidance
![Page 22: DO NOT FEED THE ROBOT](https://reader036.vdocuments.site/reader036/viewer/2022081603/56813ff3550346895dab0c08/html5/thumbnails/22.jpg)
Drift Correction
X
Y’
-2ΘY
Wall
Θ
•GuideBot is designed to follow a straight path to its destination
•Problems with drifting have been observed and a method for correction has been devised using trigonometry
•driftangle = (atan2(driftdist, xdistance))
![Page 23: DO NOT FEED THE ROBOT](https://reader036.vdocuments.site/reader036/viewer/2022081603/56813ff3550346895dab0c08/html5/thumbnails/23.jpg)
Drift Correction
![Page 24: DO NOT FEED THE ROBOT](https://reader036.vdocuments.site/reader036/viewer/2022081603/56813ff3550346895dab0c08/html5/thumbnails/24.jpg)
Remaining Work
•Implement hallway crossing
•Implement manual waypoint paths
•Add additional GUI interaction / motion sensing
![Page 25: DO NOT FEED THE ROBOT](https://reader036.vdocuments.site/reader036/viewer/2022081603/56813ff3550346895dab0c08/html5/thumbnails/25.jpg)
Guiding Down The Hallway
![Page 26: DO NOT FEED THE ROBOT](https://reader036.vdocuments.site/reader036/viewer/2022081603/56813ff3550346895dab0c08/html5/thumbnails/26.jpg)
Questions?
More detailed information can be found at:http://cegt201.bradley.edu/projects/proj2005/guidebot/