Simultaneous Localization and Mapping using ZigBee Protocol - Project...
Transcript of Simultaneous Localization and Mapping using ZigBee Protocol - Project...
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Simultaneous Localization and Mapping using ZigBeeProtocol
Project Proposal
Kyle Hevrdejs Jacob KnollAdvisor: Dr. Suruz Miah
Department of Electrical and Computer EngineeringBradley University
1501 W. Bradley AvenuePeoria, IL, 61625, USA
Tuesday, November 29, 2016
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Outline
1 Introduction
2 Background Study
3 Functional RequirementsSpecifications
4 Preliminary ResultsSimulationDesignExperimental Activities
5 Parts List
6 Deliverables
7 Timeline and Milestones
8 Future Directions
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IntroductionApplications
Warehouses
Cleaning systems
Robotic concierge
Large office mail systems
Mining
Research and education
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Introduction
Problem Statement
Design and implementation of a low-cost localization and mapping systemusing off-the-shelf hardware components.
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Background StudyLiterature
Most systems in research environments utilize RFID
Directional antennas with wireless sensor beacons
Using a parabolic reflector to estimate angle-of-arrival
Research literature showing proof of concept and not a real worldimplementation
Implemented on custom, purpose-built mobile robots
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Background StudyChallenges
Accuracy of measurements, mapping, and localization
Improve signal-to-noise ratio (SNR)
Balancing cost and accuracy in the number of wireless beacons
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Terminology
Pose: q = [x , y , θ]T
Root Mean Square Error: RMSE =√
1tf
∫ tf0 [e(t)]
2dt
Robot error: eP(t) =√
(x̂(t) − xd(t))2 + (ŷ(t) − yd(t))2
eB(t) = Σni=1ei (t) where
ei (t) =√
(x̂i (t) − xdi (t))2 + (ŷi (t) − ydi (t))2
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Functional RequirementsSystem Architecture
Figure: System Architecture
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Functional RequirementsSystem Architecture
(a) (b) (c)
Mobile robot (Pioneer 3-DX)
Interfaced using BeagleBone Black running Robot Operating System(ROS indigo1)
Ceiling mounted beacons (XBee modules)
Predefined waypoints (implemented in algorithm)1www.ros.org
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http://www.bradley.eduwww.ros.org
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Functional RequirementsSystem Block Diagram
Localizationand Mapping
Power (12 V)
Pre-definedwaypoints
Beacon's received signalstrength (RSS) and ID from beacon
Robot's estimatedpose
Beacons' estimatedposition
Robot's pathfollowing waypoints
Noise fromenvironment
Input Output
Figure: System block diagram
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Functional RequirementsSubsystem Block Diagram
Controller PreprocessorMobile
Robot
Estimation
PredefinedWaypoints(desired)
XBee
Network
ν (linear velocity)
γ (steering angle)
ν (linear velocity)
! (angular velocity)
Noisy Robot Pose
BeaconIDs
Beacons' receivedsignal strength (RSS)
Noise fromenvironment
Robot's path
following way-
points
Estimated Position of XBees
Estimated Robot Pose
Estimated Robot Pose
Estimated Positionof XBees
Figure: Subsystem block diagram
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Functional RequirementsSubsystem Block Diagram
Four subsystems
ControllerPreprocessorMobile RobotEstimation
Outputs are for debugging, used internally for implementingEKF-SLAM algorithm
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Outline
1 Introduction
2 Background Study
3 Functional RequirementsSpecifications
4 Preliminary ResultsSimulationDesignExperimental Activities
5 Parts List
6 Deliverables
7 Timeline and Milestones
8 Future Directions
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Functional RequirementsSpecifications
Cost under $500
Localize mobile robot with RMSE ≤ 30 cmEstimate beacon positions with RMSE ≤ 30 cmUse ROS
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Outline
1 Introduction
2 Background Study
3 Functional RequirementsSpecifications
4 Preliminary ResultsSimulationDesignExperimental Activities
5 Parts List
6 Deliverables
7 Timeline and Milestones
8 Future Directions
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Preliminary ResultsV-REP
Real-time robot simulator
Advantages
Simulates all dynamics of the robot (driving kinematics, object physics,sensors)Easy to use through a variety of programming languagesProvides real-time simulation data for use in algorithm
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Preliminary ResultsSimulation Setup
Time step, T = 0.25 s
Linear velocity standard deviation, σν = 8.8858 × 10−4
Angular velocity standard deviation, σω = 0.0012
Observation range standard deviation, σR = 1
Observation bearing standard deviation, σB = 5◦
Maximum Pioneer linear velocity is 1.2 m s−1
Maximum Pioneer angular velocity is 300 ◦ s−1
Other parameters: 9 beacons, 2000 iterations, observations every 8iterations
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Preliminary ResultsSimulation
Figure: Starting configuration of the V-REP simulation
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Preliminary ResultsSimulation
0 200 400 600 800 1000 1200 1400 1600 1800 2000
Iteration
0
0.1
0.2
0.3
0.4
0.5
0.6
eP(t
) [m
]
Robot Error
Figure: Robot error from simulation over 2000 iterations with an RMSE of 0.0928
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Preliminary ResultsSimulation
0 50 100 150 200 250
Observation
0.5
1
1.5
2
2.5
3
3.5
4
eB(t
) [m
]
Total Beacon Position error
Figure: Total beacon error from simulation over 250 observations with an RMSEof 1.7254
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Outline
1 Introduction
2 Background Study
3 Functional RequirementsSpecifications
4 Preliminary ResultsSimulationDesignExperimental Activities
5 Parts List
6 Deliverables
7 Timeline and Milestones
8 Future Directions
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Preliminary ResultsDesign
Pioneer 3-DXBeagleBone
BlackUART UARTXBee
Coordinator
XBee
End-Devices
ZigBee
Wireless
Network
Figure: System interfaces
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Preliminary ResultsDesign
Basic wireless communication between two XBees in X-CTU, XBeeconfiguration software, running on a PC.
C program running on BeagleBone Black which interfaces with XBeevia UART for basic communication between two XBees.
Expanded C program with the help of open source library libxbee2 topacket-based communication.
Current functionality to obtain RSSI from beacons:
Robot mounted XBee (Coordinator) transmits ping signal to beacons.Beacons will register the RSSI.Coordinator then requests beacons (End-Devices) to return individualIDs and registered RSSI.
2https://github.com/attie/libxbee3K. Hevrdejs,J. Knoll (Bradley University) SLAM using ZigBee Protocol (Proposal) November 29, 2016 23 / 35
http://www.bradley.eduhttps://github.com/attie/libxbee3
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Outline
1 Introduction
2 Background Study
3 Functional RequirementsSpecifications
4 Preliminary ResultsSimulationDesignExperimental Activities
5 Parts List
6 Deliverables
7 Timeline and Milestones
8 Future Directions
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Preliminary ResultsExperimental Activities
Figure: Lab set up for experiments
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Preliminary ResultsExperimental Activities
0.5 1 1.5 2 2.5 3 3.5 4
Actual Distance [m]
-80
-75
-70
-65
-60
-55
-50
-45
-40
RS
SI [d
Bm
]
XBee RSSI Measurements
PL = 1
PL = 2
PL = 3
Figure: RSSI vs. Actual Distance
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Preliminary ResultsExperimental Activities
d = f (RSSI)
d = 10−RSSI−Pref
10η
where d is the calculated distance, RSSI is the measured RSSI, Pref is thepower level at a reference distance of 1 m, and η is the propagationconstant
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Preliminary ResultsExperimental Activities
0.5 1 1.5 2 2.5 3 3.5 4
Actual Distance [m]
0
0.5
1
1.5
2
2.5
3
Calc
ula
ted D
ista
nce [m
]
XBee Ranging Data
PL = 1
PL = 2
PL = 3
Figure: Calculated Distance vs. Actual Distance
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Parts List
This list does not include parts already in the lab such as the Pioneer3-DX, wire, capacitors, or resistors. We were also fortunate enough tohave access to a BeagleBone Black and some XBee modules forexperimentation without having to place a parts request.
Part Price Quantity
XBee S2C w/ whip antenna $18.19 6
XBee Interface Board $5.31 6
Perforated Circuit Board $2.84 4
Stepper Motor $14.95 1
Motor Controller $19.95 1
3.3 V Regulator $0.79 10
9 V Battery Clip $0.39 10
Table: List of ordered parts
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Deliverables
Experimental results
Report
Complete Documentation
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Timeline and MilestonesFall Semester
2016
Sep Oct Nov Dec
100%Research100%Research XBee functionality
100%Research EKF-SLAM
100%Simulation100%Simulate using MATLAB
100%Simulate using V-REP
100%XBee Communication100%Communication with X-CTU
100%AT Commands
100%Remote AT Commands
100%XBee Library
100%Get XBee RSSI data from multiple beacons
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Timeline and MilestonesSpring Semester
2017
Jan Feb Mar Apr May
100%XBee Communication100%Get XBee RSSI data from multiple beacons
0%Angle Estimation0%Build Reflector
0%Testing and Debugging
0%Subsystem Preparation0%Install ROS for Control of Pioneer 3-DX
0%Create ROS Node for Estimator Subsytem
0%Integration and Test0%Integrate subsystems
0%Test and Debug System
0%Project Completion Work
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Future Directions
Estimate angle-of-arrival from wireless beacons
Complete subsystems
Integrate subsystems
Demonstrate completed system
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References I
F. Martinelli, “A robot localization system combining rssi and phaseshift in uhf-rfid signals,” IEEE Transactions on Control SystemsTechnology, vol. 23, no. 5, pp. 1782–1796, Sept 2015.
E. DiGiampaolo and F. Martinelli, “Mobile robot localization using thephase of passive uhf rfid signals,” IEEE Transactions on IndustrialElectronics, vol. 61, no. 1, pp. 365–376, Jan 2014.
D. Song, C. Y. Kim, and J. Yi, “Simultaneous localization of multipleunknown and transient radio sources using a mobile robot,” IEEETransactions on Robotics, vol. 28, no. 3, pp. 668–680, June 2012.
D. Hahnel, W. Burgard, D. Fox, K. Fishkin, and M. Philipose,“Mapping and localization with rfid technology,” in Robotics andAutomation, 2004. Proceedings. ICRA ’04. 2004 IEEE InternationalConference on, vol. 1, April 2004, pp. 1015–1020 Vol.1.
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References II
B. N. Hood and P. Barooah, “Estimating doa from radio-frequencyrssi measurements using an actuated reflector,” IEEE Sensors Journal,vol. 11, no. 2, pp. 413–417, Feb 2011.
V. Malyavej, W. Kumkeaw, and M. Aorpimai, “Indoor robotlocalization by rssi/imu sensor fusion,” in 2013 10th InternationalConference on Electrical Engineering/Electronics, Computer,Telecommunications and Information Technology, May 2013, pp. 1–6.
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IntroductionBackground StudyFunctional RequirementsSpecifications
Preliminary ResultsSimulationDesignExperimental Activities
Parts ListDeliverablesTimeline and MilestonesFuture DirectionsAppendix