Joe Buckner & Nir Chezrony
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2 I-Guide Intelligent Guide Robot Joe Buckner & Nir Chezrony Advisors: Dr. Joel Schipper & Dr. James Irwin, Jr. Sponsored By: Northrop Grumman
3 Presentation Overview Project Summary Fall 2008 Accomplishments Components Removed Sonar Sensor Failure Barcode Scanner Kiosk Monitor Wall Follow Simulation ADC to USB Current and Future Work Workflow and Gantt Charts 3
4 Project Summary Autonomous Tour Robot Pioneer 3 2 nd and 3 rd floor of ECE Department Utilize Elevator Localization - Barcodes Navigation Topological Decomposition 4
5 Fall 2008 Accomplishments Selected Robot Platform Built ModelSim Environments Developed Flowcharts Path Planning Algorithm Navigation Algorithm Interfaced Development HID - Joystick 5
6 Fall 2008 Accomplishments Selected Localization & Navigation Sensors Native Sonar Sensors Barcode Reader Digital Compass IR Sensors 6
7 Components Removed Compass / Gyro Rear Sonar Sensors Touchscreen 7
8 Sonar Sensor Failure Firing Order & Firing Rate Gain Potentiometer Simple Software Fix Complex Algorithm 8
9 Sonar Sensor Fix Data 9
10 Sonar Sensor Fix Data 10
11 Sonar Sensor Fix Data 11
12 Sonar Sensor Fix Data 12
13 Barcode Scanner Sent Fuzzy Logic Scanner Verified Read Range Integrated into Software Release Resolving Hands-Free Operation 13
14 Kiosk Monitor Overvoltage Protection Circuitry Operating Range VDC 14
15 Wall Follow Simulation Uses L50 and R50 Sonar Center of Hall Threshold Proportional Turning Rate Rate Limit Turning Rate Integrated into Software Release Direction of Travel 15
16 ADC to USB Integrated into Software Release Universal Software Module IR and Bump Sensors 16
17 Current Work Barcode Scanner Hands-Free Operation Monitor Overvoltage Protection IR Sensor Functionality Obstacle Detection / Avoidance Algorithm 17
18 Future Work Mounting Components Bump Sensors Navigation / Localization Algorithm Video Recording GUI Video Playback 18
19 19
20 Acknowledgments and Questions Dr. Joel Schipper Dr. James Irwin, Jr. Dr. Aleksander Malinowski Dr. Gary Dempsey Mr. Steve Gutschlag 20
21 End of Presentation: Supplemental Slides Follow 21
22 Nodal Navigation 22
23 System Block Diagram Wired Wireless Compass Barcode Real World Bump Sensors Barcode Reader Sonar Sensors IR Sensors Speakers Touchscreen Laptop Pioneer Robot DC-DC Converter Battery Voltage Regulator 23
24 Software Flowchart Barcode Found Barcode Found Obstacle Detected Path Planning / Localization Obstacle Detection & Avoidance Navigation Distance to Next Barcode No Obstacle Current Bearing 24
25 Software Flowchart Touchscreen Input Barcode Found Barcode Found Obstacle Detected Digital Compass Path Planning / Localization Obstacle Detection & Avoidance Navigation Distance to Next Barcode No Obstacle Barcode Reader Current Bearing Audio and Video Feedback 25
26 Software Flowchart Barcode Found Barcode Found Obstacle Detected th Planning / Localization Bump Sensors Sonar Sensors Obstacle Detection & Avoidance Navigation IR Sensors Distance to Next Barcode No Obstacle Current Bearing 26
27 Software Flowchart Barcode Found Barcode Found Obstacle Detected Sonar Sensor IR Sensors Navigation Path Planning / Localization Obstacle Detection & Avoidance Digital Compass Distance to Next Barcode No Obstacle Current Bearing 27
28 Subsumption vs. Blackboard Architecture Subsumption Blackboard Sensor High Level Process X Higher Function Needed Higher Function Done Mid Level Process X Sensor Decision Maker Sensor Higher Function Done Sensor Higher Function Needed Low Level Process 28
29 High Level Goals Successfully navigate the ECE Department Identify key points throughout a tour Provide accurate information to the user Provide a means for user input 29
30 Full Requirements (1) Must reach intended goal within a 4 radius Avoid all obstacles, moving or stationary Must detect when battery is at 10% of max charge Additional range sensors added to the Pioneer 3 must have a minimum range from 6 to 10 30
31 Full Requirements (2) Additional range sensors added to the Pioneer 3 must have a measurement accuracy of 5 Must allow user to select one of 28 locations or one of 3 complete floor tours Additional compass sensor added to the Pioneer 3 must provide an accurate magnetic bearing within 10 Must have a complete software loop faster than 180 ms 31
32 Full Requirements (3) Must have a complete software loop faster than 180 ms Must maintain an average speed of 31.5 in/sec during transit 32
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