1. 2 mobile robot navigation with human interface device david buckles brian walsh advisor: dr....
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Mobile Robot NavigationMobile Robot Navigationwith Human Interface with Human Interface
DeviceDeviceDavid BucklesDavid BucklesBrian WalshBrian Walsh
Advisor:Advisor:
Dr. MalinowskiDr. Malinowski
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OutlineOutline
Project SummaryProject Summary Project DescriptionProject Description ProgressProgress Schedule of TasksSchedule of Tasks
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Project SummaryProject Summary
A pioneer 3D-X robot shall map an A pioneer 3D-X robot shall map an environment in openGL.environment in openGL.
This map shall be displayed on an This map shall be displayed on an LCD eyepiece in real time.LCD eyepiece in real time.
The robot shall navigate an The robot shall navigate an environment using potential field environment using potential field planning or direct manual control via planning or direct manual control via a sensor glove.a sensor glove.
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Project DescriptionProject DescriptionHuman Interface System Block Diagram
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Project DescriptionProject DescriptionRobot System Block Diagram
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Project Description - GoalsProject Description - Goals Mapping the robot’s current environment Mapping the robot’s current environment
in 3D, in real time, and utilizing OpenGL to in 3D, in real time, and utilizing OpenGL to display the data on an LCD eyepiece to display the data on an LCD eyepiece to provide visual feedbackprovide visual feedback
Provide user override of the automated Provide user override of the automated navigation systems via a glove with navigation systems via a glove with sensors and software with feature sensors and software with feature recognitionrecognition
Implement a sensor (possibly ultrasonic) Implement a sensor (possibly ultrasonic) to detect ceiling heightto detect ceiling height
Implement a grasping device controllable Implement a grasping device controllable by the sensing gloveby the sensing glove
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Project Description - GoalsProject Description - Goals
If time permits, attach a 2 degree of If time permits, attach a 2 degree of freedom robotic arm to the grasping freedom robotic arm to the grasping device,device, also controllable via sensor also controllable via sensor glove with feature recognitionglove with feature recognition
Implement Potential Field planning Implement Potential Field planning as a method for the robot to navigate as a method for the robot to navigate and map its environment and map its environment
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Project DescriptionProject Description
Hand sensors shall have < 3 Hand sensors shall have < 3 degrees/second of drift.degrees/second of drift.
Eyepiece shall have a 12 Hz refresh rate.Eyepiece shall have a 12 Hz refresh rate. Eyepiece shall have 180 degree range of Eyepiece shall have 180 degree range of
vision with 5 degree accuracy.vision with 5 degree accuracy. Robot shall be able to measure walls Robot shall be able to measure walls
within 20 to 150 cm with 2 cm accuracy.within 20 to 150 cm with 2 cm accuracy. Robot shall be able to measure ceiling Robot shall be able to measure ceiling
within 3 m with 5 cm accuracy.within 3 m with 5 cm accuracy.
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ProgressProgress
ARIA is set-up on lab computerARIA is set-up on lab computer Potential Field Algorithm is beginning Potential Field Algorithm is beginning
to be utilizedto be utilized Joystick manual override being Joystick manual override being
developeddeveloped Wall Creation AlgorithmWall Creation Algorithm Ceiling SensorCeiling Sensor EyepieceEyepiece
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ProgressProgress
Sensor glove driversSensor glove drivers Sensor glove dataSensor glove data Communication protocolCommunication protocol Robot arm interfaceRobot arm interface Tracking algorithmTracking algorithm
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ProgressProgressSensor GloveSensor Glove
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ProgressProgressServoServo
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ProgressProgressServoServo
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ProgressProgressGlove Accelerometer AxisGlove Accelerometer Axis
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ProgressProgressRobot ArmRobot Arm
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ProgressProgressServoServo
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ProgressProgressPWM Control Scheme of ServosPWM Control Scheme of Servos
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ProgressProgressFlowchart of Hand Sensor CalibrationFlowchart of Hand Sensor Calibration
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ProgressProgressFlowchart of Hand Sensor Control SchemeFlowchart of Hand Sensor Control Scheme
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Schedule of TasksSchedule of TasksWeek Hardware - David Software - Brian
1/25 Test and interface robot arm Set-up ARIA on lab computer
2/1 Test and interface Dataglove Robot Simulation/SNOW
2/8 Begin to integrate Dataglove Robot Simulation
2/15 Begin to integrate robot armAttempt to combine ARIA and
openGL
2/22Integrate Dataglove & robot arm
systems Begin multi threading
3/1-3/8Test Accuracy of Accelerometer,
Digital Compass, and Gyroscope Finish multithreading
3/22-3/29 Filter Construction Ceiling detection
4/5 Filter Construction openGL to headpiece
4/12 Integrate LCD headpieceReplace joystick control with
hand
4/19 System Integration Debug hand interface
4/26- Compile Final Report
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Questions?Questions?
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AnswersAnswers
• 5-Degree of Freedom Combo Board:5-Degree of Freedom Combo Board:2-axis 500 degree gyroscope2-axis 500 degree gyroscopeIDG500IDG500
• 3-axis 3g accelerometer3-axis 3g accelerometerADXL335 ADXL335
• 3-Degree of Freedom Digital Compass 3-Degree of Freedom Digital Compass on Breakout Boardon Breakout BoardHMC5843 HMC5843
• DGV-5 DatagloveDGV-5 Dataglove