Cartel: Cartography (mapmaking) + Intel (intelligence)
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Transcript of Cartel: Cartography (mapmaking) + Intel (intelligence)
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Cartel: Cartography (mapmaking) + Intel (intelligence)
Preliminary Design ReviewECE4007 L01 – Senior Design – Fall 2007School of Electrical and Computer EngineeringGeorgia Institute of Technology
Project Advisor: Dr. Hamblen
Autonomous Multi-robot Mapping System
Brandon Chong - Team LeaderDavid EsiobuJonathan KingMark NfodzoChristopher Pau - Webmaster
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Autonomous Multi-Robot Mapping System• Develop two prototypes of mapping
robot• Map urban warfare areas for U.S.
Military • Improve on expensive and complex
military robots • Design our system cheaper,
specialized, and expandable • Focus on cost, expandability, and
autonomy
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Design Objectives• Lowering cost allows more systems• Using cheaper parts, software over
hardware• Designing expandability increases
accuracy and speed• Allowing easy and fast addition of
robots• Designing autonomy reduces human
element• Coordinating between robots
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Hardware Connection Diagram
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Mounting Diagram
Source: Microsoft
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iRobot Create
Source: iRobot.com
• Small wheeled profile• Cargo bay for additional hardware• Serial command interface• Rechargeable battery
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eBox 2300• 200 Mhz Vortex86 System-On-Chip • Fanless, compact design• Ultra Low Power• Wireless LAN, USB / Ethernet / RS-232
ports
Source: EmbeddedPC.net
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IR Sensor - GP2D12 • Sharp GP2D12 IR Sensor• Used to gather obstacle data• Distances from 10 cm to 70 cm• Analog Output Voltage from 0 to 2.5V
Source: Phidgets.com
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Ultrasonic Sonar Sensor• 42kHz Ultrasonic
sensor• Used to
determine robot movement
• Detects objects from 0 to 6.45 m
• Multiple Outputs• Analog Output -
10mV/inc• 2.5V-5.5V, < 3mA
supply current• Small, light
weight module Source: LV MaxSonar EZ1 Datasheet
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Compass Sensor• Used to coordinate
robot data• Power - 5-volts DC @
19 ma.• Outputs - Dual
analog channels • Weight - 2.25 grams• Size - 12.7 mm
diameter, 16 mm tall• Pins - 3 pins on 2
sides on .050 centers• Temp - 20 to +85
degrees C
Source : dinsmoresensors datasheet
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Phidgets Interfacekit 8/8/8• Used to interface sensors to the eBox• 8 Analog Input / 8 Digital Input / 8
Digital Output• Output to USB (drivers provided for
Win CE)• Analog to Digital converter
Source: Phidgets.com
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Phidgets Servo• Used to rotate IR sensor to make
multiple readings• HiTec HS-322HD Servo• 0.19sec/60 degrees at 4.8V • USB controller (drivers provided for
Win CE)
Source: Phidgets.com
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Software Overview• Operating System: Windows CE 6.0• Cartel Application: Microsoft Visual C#• Development environment: Microsoft Visual Studio
2005
Source: Microsoft
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Microsoft Visual C#Advantages
• Rapid software development (Managed Code)
• .NET Platform compatibility
• Pre-built drivers and projects (Phidgets)
Disadvantages• Windows-only - no
support on Linux (Mono = .NET alternative)
• Microsoft licensing fees
• .NET Code Performance Overhead (speed of sonar?)
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Cartel ControllerCartel Controller
Monitors and handles all requests
Sensor ControllerSensor data and Servo controls
Robot ControlleriRobot commands
Wireless Controller802.11b/g Network Communications
Intelligence ControllerGenerates movement operations
Runs on startup
Stores
Initial position
Map Data
Starts deployment procedure
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Robot Deployment Procedure
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Robot Deployment Procedure (2)
1) Leader (Robot 1) is in initialization2) Robot 2 gets position and starts exploration3) Robot 3 gets position and starts exploration4) No more robots after 3 minutes5) Leader starts exploration
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• Implements UDP/IP
• Opens Socket for receiving data
• Opens Socket for sending data
• Sends Broadcast Packets
Wireless Controller
Source: http://bit.kuas.edu.tw/~csshieh/
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Sensor Controller• Initialize interfaces to sensors and
servo• Process periodic readings from sonar
sensors• Take IR readings from a specified
angle• Generate events for Intelligence
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Robot Controller• Initialize and configure the Create• Translate commands to the Create’s
Open Interface• Process periodic readings from robot
sensors• Generate events for Intelligence
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Intelligence Controller• Process events generated by other
controllers• Make decisions about motion based
on gathered data• Share findings with other robots at
regular intervals
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Intelligence Controller - Exploration• Discretize the space • Track the explored
and occupied cells• Avoid explored areas
and probe occupied ones
• Sonar data will offer longer range, “soft” feedback
• IR readings will give hard numbers at closer range
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Advantages/Disadvantages of Controller Design• Divides work up• Shortens development time• Easily changeable for different robots• Increases complexity
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Mapping Software• Receives UDP
broadcast packets from the robots
• Plots unexplored area as grey squares
• Plots unoccupied area as white squares
• Plots occupied area as blue squares
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Timeline
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Future Work• Finish interfacing sensors• Finish Cartel Controllers• Establish communications between
robots• Establish communications between
robots and the Mapping Software• Perform mapping test runs• Debug problems encountered in test
runs
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Questions?
More information: please visit our website
http://cartel.shorturl.com
OR
http://www.ece.gatech.edu/academic/courses/ece4007/07fall/ece4007l01/group01/