rfid automated navigation of a mobile platform
DESCRIPTION
RFID Automated Navigation of a Mobile Platform. Tommy Brant, Charles Harper, Patrick Smith, Eni Ofong, Caleb Howell Georgia Institute of Technology School of Electrical and Computer Engineering October 27, 2008. Project Overview. - PowerPoint PPT PresentationTRANSCRIPT
RFID Automated Navigation of a Mobile Platform
Tommy Brant, Charles Harper, Patrick Smith, Eni Ofong, Caleb Howell
Georgia Institute of Technology
School of Electrical and Computer Engineering
October 27, 2008
Project Overview
• The Mobile Platform (MP) is a robot-based system which uses an embedded system and RFID tags to communicate wirelessly with a remote GUI to navigate itself to a final destination
Business Aspect
• Intended for use in warehouses as a subsystem of automated storage(AS) and retrieval systems(RS)
• Appeals to AS/RS developers for use in easily expandable retrieval systems
• Costs $41,600 includes the product and labor for the on-site setup of the network of checkpoints
Project Goals• Wireless communication between the GUI and the robot
control systems• RFID tagged areas to identify the location of the robot• Motor control to travel on a point to point basis• Overall objective is for the MP to arrive at the user-
determined destination by following the shortest path through a network of RFID checkpoints
RFID Automated MP
Design Approach
• Program components separately to ensure the correct output
• Once desired outputs are achieved, attach hardware components together and modify code if needed for components to communicate properly
RFID MP System
System Logic
Is at RFID?
No
Yes
Transmit via ad-hoc
CPU decides direction for
robot
Gumstix Netpro-vx
Gumstix Verdex
Stop robot
Transmit via ad-hoc
Gumstix Netpro-vx
Turn robot in needed
direction
Robot Movement
Determine Direction
Is at RFID?
No
Yes
Transmit via ad-hoc
CPU decides direction for
robot
Gumstix Netpro-vx
Gumstix Verdex
Stop robot
Transmit via ad-hoc
Gumstix Netpro-vx
Turn robot in needed
direction
Robot Movement
Wireless Transmission
Is at RFID?
No
Yes
Transmit via ad-hoc
CPU decides direction for
robot
Gumstix Netpro-vx
Gumstix Verdex
Stop robot
Transmit via ad-hoc
Gumstix Netpro-vx
Turn robot in needed
direction
Robot Movement
Network Card
Is at RFID?
No
Yes
Transmit via ad-hoc
CPU decides direction for
robot
Gumstix Netpro-vx
Gumstix Verdex
Stop robot
Transmit via ad-hoc
Gumstix Netpro-vx
Turn robot in needed
direction
Robot Movement
Motherboard
Is at RFID?
No
Yes
Transmit via ad-hoc
CPU decides direction for
robot
Gumstix Netpro-vx
Gumstix Verdex
Stop robot
Transmit via ad-hoc
Gumstix Netpro-vx
Turn robot in needed
direction
Robot Movement
Update Direction
Is at RFID?
No
Yes
Transmit via ad-hoc
CPU decides direction for
robot
Gumstix Netpro-vx
Gumstix Verdex
Stop robot
Transmit via ad-hoc
Gumstix Netpro-vx
Turn robot in needed
direction
Robot Movement
Movement
Is at RFID?
No
Yes
Transmit via ad-hoc
CPU decides direction for
robot
Gumstix Netpro-vx
Gumstix Verdex
Stop robot
Transmit via ad-hoc
Gumstix Netpro-vx
Turn robot in needed
direction
Robot Movement
RFID Search Loop
Is at RFID?
No
Yes
Transmit via ad-hoc
CPU decides direction for
robot
Gumstix Netpro-vx
Gumstix Netpro-vx
Stop robot
Transmit via ad-hoc
Gumstix Netpro-vx
Turn robot in needed
direction
Robot Movement
Checkpoint
Is at RFID?
No
Yes
Transmit via ad-hoc
CPU decides direction for
robot
Gumstix Netpro-vx
Gumstix Netpro-vx
Stop robot
Transmit via ad-hoc
Gumstix Netpro-vx
Turn robot in needed
direction
Robot Movement
Back To Network Card
Is at RFID?
No
Yes
Transmit via ad-hoc
CPU decides direction for
robot
Gumstix Netpro-vx
Gumstix Netpro-vx
Stop robot
Transmit via ad-hoc
Gumstix Netpro-vx
Turn robot in needed
direction
Robot Movement
Return Info.
Is at RFID?
No
Yes
Transmit via ad-hoc
CPU decides direction for
robot
Gumstix Netpro-vx
Gumstix Verdex
Stop robot
Transmit via ad-hoc
Gumstix Netpro-vx
Turn robot in needed
direction
Robot Movement
Wait for Next Action
Is at RFID?
No
Yes
Transmit via ad-hoc
CPU decides direction for
robot
Gumstix Netpro-vx
Gumstix Verdex
Stop robot
Transmit via ad-hoc
Gumstix Netpro-vx
Turn robot in needed
direction
Robot Movement
Automation Demonstration Example
Map With RFID Checkpoints
Graphical User Interface
Choose Starting Position
Starting Position
Choose Final Destination
Plot of the Path
Start
Forward Movement 1
Checkpoint 1
Forward Movement 2
Checkpoint 2
Turn Right
Continue on Path
Forward Movement 3
Checkpoint 3
Forward Movement 4
Arrival at Final Destination
End Movement
MP Capabilities With Additional Technology
Current and Potential Problems
• Current– Due to the delay in receiving parts, we are slightly
behind schedule
• Potential– Proper communication between different hardware
components– Centering the mobile platform over the tag for changing
direction– Developing algorithms for shortest path– Power supply to the robot components– Heat dissipation from the Gumstix modules.
Project Schedule After Today
Task Duration Start Date End Date Milestone?Assigned Member
Troubleshoot Comm Path 5 days 26-Oct 31-Oct N SMITH/HOWELL/HARPER, then
GROUPTroubleshoot Effi ciency
Algorithm5 days 1-Nov 6-Nov N SMITH, then
GROUPTroubleshoot Robot
Movement/Speed/Heading5 days 7-Nov 12-Nov N BRANT/OFONG,
then GROUPTroubleshoot RFID Readings 5 days 13-Nov 18-Nov N HARPER, then
GROUPRe-integrate/Test 5 days 19-Nov 24-Nov Y GROUP
Prepare Final Demo/Presentation
5 days 25-Nov 30-Nov Y GROUP
Cost Analysis
RFID Cartographer’s Status
• All the group members have their hardware components yielding the expected output
• We are starting to meet together to test and troubleshoot communication between components