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LanDroid: An Android-Based, Wi-Fi Operated Robot

Matt Reineman, Chris Teters, Dave BosleyUniversity of Kansas

AbstractBringing the software world of Androidapps together with the hardware world of VEX Robotics

is not without design challenges.

KeywordsVEX, Cortex, Protobot, Android, LAN,

Wi-Fi, autonomous.

I. INTRODUCTION

asked with constructing a mobile robot, we haveextended our requirements to include Android control

and autonomous movement. We settled on the robot's name

LanDroiddue to its hinting at landdriving,Androidcontrol,

a local-area network (or LAN), and the mobile-robotsynonym droid.

T

II. GOAL

The primary goal of this project is to achieve anintegration between an Android device and a VEX Cortex-controlled robot. We want to be able to have direct controlof a Cortex platform robot, with the ability to drive it like anormal radio controlled robot, or provide simple commandsto have a minimal autonomous experience. The objective isto create a mechanical device that one can connect to andinteract with while still in the Android user experience.

For the autonomy, we would like the robot to be able tohave some navigational elements. These would bebehavioral based interactions with the world to achievesimple object avoidance. We want a robot that you canprovide simple instructions to, similar to proceduralinstructions, while also providing direct control.

The goal is to achieve the connection between theAndroid device and the robot without needing a dedicatedwireless access point, simply creating a direct connectionbetween the robot and the device. If this is not possible, wewant to be able to create this connection using an externalwireless access point (WAP) in the form of a laptop

providing an ad-hoc network, or a router preset to provide abridge between the two devices.

III. METHODOLOGY

For this project, we will be building a basic platform outof a VEX Protobot robotics kit which will be linked via a

wireless access point, to an android device to operate therobot. To achieve this we will be following a benchmarkbased development pattern. These benchmarks are separatedby times dedicated to testing. Our schedule is broken downas follows:

Robot assembly and basic platform testing

1. Assemble VEX frame

2. Mount wheels and drive system

3. Mount main control board

4. Get Wi-Fi working

5. Basic mobility code6. Field testing, to ensure stable design [1]

On-Board autonomous setup and testing

1. Add bumper sensors, compass, and other sensors toaid in autonomous action

2. Simple autonomous sensor tests

3. Field testing, to ensure stable design

Android app creation

1. Build an app that can provide inputs for motioncontrol

2. Simulate this interaction on a computer, by testingeach input against an output printed to screen

3. Integrate with the robot

4. Field testing, to ensure stable design

This is an iterative approach that we believe will ensurethat at each stage of testing, we will have a functioning robotthat achieves a major goal. We believe that this approachwill ensure that we both have a solid robot at the time ofproject delivery while also ensuring that we do not overextend ourselves in attempting to do too much, as we willhave to check our progress against our benchmarks.

The robot is being built from a basic VEX platform. Thisgives us flexibility in design of the robot without having toworry about fabricating a large number of additional parts.With the VEX kit we can easily get a functioning robot builtand controlled via radio controls, which allows us to focuson the more difficult aspects of this project, which will be

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the development of the Android app and the integration ofthe Android device and the Vex micro-controller.

IV. ARCHITECTURE

Robot hardware

Our mobile robot is constructed using commercial off-the-shelf (COTS) components available from VEXRobotics.

Cortex Microcontroller

The Cortex Microcontroller is built around an ARMMicroprocessor running at 90 million instructions persecond (MIPS), together with 384 KB of flash memory. ForI/O, the Cortex features 10 motor ports, 12 general-purposedigital ports, 8 analog ports, 2 UART serial ports, and anI2C port. Unlike the cheaper PIC-based VEXmicrocontroller, the Cortex features a USB port for bothprogramming and the Wi-Fi link.

Android phone

We are still debating whether an Android-powered smartphone will need to ride onboard the robot to provideadditional sensors (compass, accelerometers, or gyroscopes[2]) or wireless network capabilities.

If used, the Android phone will be borrowed from a groupmember, and thus not a permanent component on the robot.

Android tablet

The Android tablet will be borrowed from a group

member, and not be a permanent accessory to the robot.

V. DELIVERABLES

Project report

The project report is the first group deliverable, and is dueon Tuesday, October 18. Content is subject to change as theproject evolves.

Presentation

We will give a 15-minute presentation to the class on

Tuesday, November 22. It will be organized andinformative. Rehearsal is recommended.

Poster

The poster is to describe and illustrate the project. It isdue on Thursday, December 8.

Robot

Our mobile robot, named LanDroid, will be due onThursday, December 8. It will be submitted in a functioningstate.

VI. BUDGET

Allotted funds

The initial allowed budget, as funded by the class, is $150(USD) per person. Being a group of three, our allocation is$450. Expansion of the budget is plausible for funding high-end features, at the discretion of the professor.

Some loose VEX parts will be provided by the professor,and do not count against the group's budget. Additionally,PCBs can be milled by the EECS Shop on the third floor ofEaton Hall at no cost to the group.

Expenditures

We started with a VEX Protobot Starter Bundle, whichran $370. We enhanced the Cortex with Wi-Fi capabilitiesutilizing the VEX USB Key at $40. Because the Androidphone and tablet will be borrowed, they do not subtract fromour budget. This brings our total expenditures to about $410.

VII. CONCLUSIONS

While this project is yet to conclude, we believe ourprogress is on schedule for a successful robotic result at theend of the fall semester.

VIII. R EFERENCES

[1] Roland Siegwart, Illah Nourbakhsh, Davide Scaramuzza.Introduction to Autonomous Mobile Robots, Second Edition,pp. 13-423. Massachusetts: The MIT Press, 2011.

[2] Arvin Agah. Mobile Robotics, EECS 747 Lectures (http://people.ku.edu/~agah/courses.html), 2011.

IX. BIOGRAPHIES

Matt Reineman was born in Lawrence, Kansas, UnitedStates in 1986. He received his B.S. degree in computerengineering from the University of Kansas in 2009.

Currently, he is studying toward his M.S. degree in electricalengineering at the University of Kansas. His interestsinclude power systems, telemetry, and electric vehicles.

Chris Teters was born in Kansas City, Kansas, UnitedStates in 1990. His team won the Greater Kansas CityRegional FIRST robotics competition in 2008. Currently, heis studying toward his B.S. degree in computer science at theUniversity of Kansas. His interests include human-computer

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interaction, assembly language, and formal languages.

Dave Bosley was born in Moon, Pennsylvania, UnitedStates in 1988. His team won the Midwest Regional FIRST

robotics competition in 2006. Currently, he is studyingtoward his B.S. degree in computer science at the Universityof Kansas. His interests include video-game developmentand web development.

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