wireless networks for multi- robot communications creating a sensor network of robots
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Wireless Networks for Multi-Robot Communications
Creating a Sensor Network of Robots.
Project Purpose
Create a sensor network of robots that, together, achieve a shared goal.
What is a Sensor Network? A sensor network contains multiple
devices. Each device has devices on it that
can sense conditions of the outside world, or sensors.
Each device communicates to other devices in order to achieve a shared goal.
Advantages of Sensor Networks Jobs can be complete with large
numbers of units in parallel Redundancy: Each unit of the
network can be destroyed with little to no damage to the network as a whole
Jobs of Sensor Network Surveillance: Sensor network can
cover a large are, and collate the data before it reaches the user
Search: Sensor networks can cover multiple parts simultaneously for quicker results.
Remote Monitoring and Control
Design Problem
Develop a wireless communication network for multi-robot teams. This network, preferably made with radio frequency transceivers, plus the on board sensors of the robots themselves, will form a sensor network, in order to locate a light source.
Existing ImplementationsDARPA has
sponsored a project for “smart dust”: a sensor network of thousands all small enough to float in the wind, to be used for surveillance.
TinyOS and TinyDB Part of the DARPA
project is the creation of an embedded operating system to run units on the sensor network, called TinyOS, and a data gathering utility, TinyDB
RFID Tags
These tags are small devices that transmit an ID number when hit with a radio frequency.
Design ConstraintsThe project must… Maneuver around objects. Search for target. Realize it has found target. Signal other robots. Search for robot that signals. Wait for turn to communicate. Not interfere or be interfered with in
terms of RF communications.
Design Constraints
The project should… Be easy to modify system behavior. Be easy to interface. Use parts and tools readily available. Sense obstacles to avoid contact. Use small enough area to ensure the RF
transmitters can reach all distances.
Feasibility StudyShow the project is physically, technically, and
economically feasible in the time available. Similar projects have been successfully
completed. Can use past projects for guidelines and
ideas. Budget is within reason. Using mature technologies such as RF and
photocells. Easy to interface with robots.
Timeline
3 4 5 6 7 8 9 10 11 12 13 14 15 16
Presentation
Testing
Integrate
RF Software
Integrate
Searching Software
Initial movement of Bots
Build Bots
Parts List
Proposal
Week
Survey of Products AmigoBot (ActiveMedia) Khepera (K-Team) Trilobot (Arrick Electronics) Hexapod (LynxMotion) Boebot (Parallax)
AmigoBot Comes with battery
and battery charger Comes with
AmigoOS and AmigoBot User Guide
Great Indoor/Outdoor range
Comes with various packages (e.g. Wirefree)
Too Expensive
Khepera Not Enough
Payload to add on RF products
Shorter whiskers than Boebot
Light, compact design
Limited kits available
Trilobot Heaviest of all robots 8 whiskers around
base 4 light level sensors Digital tempature
sensor Engineered for easy
expansion Once again…
Hexapod Never specified
payload Lacking
Documentation and manuals
Affordable Price
Boebot Comes with
BasicStamp2 Get Full Kit with
each robot purchase
Extensive Documentation and very adaptable
Price is right!
BudgetProduct Quantity PriceBoebot Full Kit 5 1145.00(w/shipping) 1157.28Transmitter (TWS-434) 5 38.25 Receiver (RWS-434) 5 38.25433 MHz Antenna 5 45.00(w/shipping) 130.84Alkaline Batteries (AA) 100.00Total Cost 1388.12
Design Validation Test servos, whiskers,
photoresistors, and IR subsystem individually as outlined in Boe-Bot manual
Integrate and test servos, whiskers, photoresistors, and IR subsystem
Search and Communicate Implement and
test random search for light using single Boe-Bot
Implement and test patterned search for light using single Boe-Bot
Implement and test RF communication between two Boe-Bots
Develop, implement, and test a communication protocol for multiple Boe-Bots
Putting it all Together Combine communication protocol with
individual Boe-Bot random and pattern searches
Begin stepwise refinement Determine which search is best Determine how close Boe-Bots should get to
each other before moving away from each other
Enhance communication protocol
Proposal Choose parts
Order parts
Connect servos to robots
Build robots
Get robots moving
Connect whiskers
Write and implement obstacle avoidance software
Connect photocells
Write and implement light sensing software
Connect RF transmitter and receiver
Write and implement RF software
Write and implement networking protocol
Connect IR
Write and implement IR
Write and implement object searching
Write and implement object tracking
Create team
(Optional – if time permits) Search and rescue lost robots
Complications Test with various objects blocking
the search Test with Boe-Bots being
dynamically added and removed from the search
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