proposal for human follwing mobile robot

7/25/2019 Proposal for human follwing mobile robot

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HUMAN FOLLOWING

MOBILE ROBOT USING

VISUAL NAVIGATION

PROJECT SUPERVISOR

DR. MUHAMMAD UMER KH


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Group Members

SUNAN RAZA KHAN (120535)

MUHAMMAD BIN SALEEM (120547)

SHUMAIL ZAHEER (120567)

MUHAMMAD UMAIR (120589)


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Contents

Introduction

Mathematical Modeling

Mechanical Design

Demonstration

Questions and Answers


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Introduction

Problem Statement

The ultimate goal of our project is to make an UnGround Vehicle (UGV) follow a single human usinnavigation based on static gestures given by the hum

followed.


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Introduction

Objectives and Goals

Detect a human body.

Follow a single human as he/she walks.

Gesture recognition (to start and stop the robot)


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Introduction

Constraints

Single human following

No obstacle avoidance

Moderate speed of human

Robot moves over smooth surfaces.

Only static gestures

No payload


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Introduction

Block Diagram


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Introduction

Robot Operating System


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Introduction

Why ROS?

Modularity

Concurrent resource handling

Distributed computation

Software Reuse

Rapid testing


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Mathematical Modelling

ontrol Model Diagram


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Transfer Function:

=

2 + + + +

Shifting Towards load:

=

1

50

()


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Simulink without PID controller Diagram and response


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With PID controller Diagram and response:


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Mechanical Design

Robot base has 3 main compartments:Lower compartment

Intermediate compartment

Upper compartment


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Mechanical Design

Lower Compartment:This compartment has:

Motors

Batteries

Chain driveGears


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Mechanical Design

Intermediate compartment:This is a sliding compartment

Our laptop will be placed in

this compartment


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Mechanical Design

Upper Compartment:This compartment has the

electrical circuits like:

H-bridge

Power BoardArduino Mega 2560


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Mechanical Design

Stress AnalysisNet force: 1000N

Force on robot base frame: 500N

Force on slider: 400N

Force on Circuit section: 100N

Yield Stress: 9.352x10-12 4.596x 10-03 MPa


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Demonstration

Basic architecture of ROSPackages

Nodes

Topics

Messages

ROS master


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Demonstration

Packages used in our demonstration

OpenNI

NITE

Rosserial


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Demonstration

Representation of ROS Architecture


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Demonstration

yes

Flow Chart


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Demonstration


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Tentative Cost Analysis


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Timeline


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proposal for human follwing mobile robot

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