robot interaction using cricket, an indoor positioning system · ¾uses range information to...
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Robot Interaction Using Cricket, an Indoor Positioning System
Hosam Haggag • Golbarg Mehraei
Advisor: P.S. KrishnaprasadCollaborator: Joshua Lioi
What is Cricket?
Robot Interaction Using Cricket,an Indoor Positioning System
What is Cricket?
Determines ranges of mobile clients by sending RF and ultrasonic signals to fixed beacons above.
Robot Interaction Using Cricket,an Indoor Positioning System
Uses range information to triangulate position of client.
Robot Interaction Using Cricket,an Indoor Positioning System
( 0 , 0 )
X
( -120 , 0 )
( 0 , -182 )
Y
Uses range information to triangulate position of client.
Robot Interaction Using Cricket,an Indoor Positioning System
Uses range information to triangulate position of client.
Robot Interaction Using Cricket,an Indoor Positioning System
Uses range information to triangulate position of client.
Robot Interaction Using Cricket,an Indoor Positioning System
Tracking a Fixed Destination
Robot Interaction Using Cricket,an Indoor Positioning System
X
YFront of Robot
Tracking a Fixed Destination
Robot Interaction Using Cricket,an Indoor Positioning System
X
YFront of Robot
Cricket 1
Tracking a Fixed Destination
Robot Interaction Using Cricket,an Indoor Positioning System
X
YFront of Robot
Cricket 1Cricket 2
Tracking a Fixed Destination
Robot Interaction Using Cricket,an Indoor Positioning System
R(XR,YR)
D(XD,YD)
X
Y
θ
Tracking a Fixed Destination
Robot Interaction Using Cricket,an Indoor Positioning System
R(XR,YR)
D(XD,YD)
X
Y Φ
θ
Robot Interaction Using Cricket,an Indoor Positioning System
Tracking Another Robot
Robot is a moving destination.
How to find the coordinates of another robot?
Robot Interaction Using Cricket,an Indoor Positioning System
Tracking Another Robot
Robot is a moving destination.
How to find the coordinates of another robot?
CORBA
Robot Interaction Using Cricket,an Indoor Positioning System
Tracking Another Robot
CORBA
Robot Interaction Using Cricket,an Indoor Positioning System
Tracking Another Robot
CORBA
Robot Interaction Using Cricket,an Indoor Positioning System
Robot Interaction Using Cricket,an Indoor Positioning System
Robot Interaction Using Cricket,an Indoor Positioning System
Control Law Implementation
MDLe – Motion Description Language, extended version.
Independent of robotic system platform.
Robot Interaction Using Cricket,an Indoor Positioning System
Project Website:
www.isr.umd.edu/Labs/ISL/Summer06project/
Robot Interaction Using Cricket,an Indoor Positioning System