Mobile Robot Navigation with Human Interface Device

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(No Transcript)
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Mobile Robot Navigationwith Human Interface
Device

• David BucklesBrian Walsh
• Advisor
• Dr. Malinowski

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Outline

• Project Summary
• Project Description
• Progress
• Schedule of Tasks

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Project Summary

• A pioneer 3D-X robot shall map an environment in
  openGL.
• This map shall be displayed on an LCD eyepiece in
  real time.
• The robot shall navigate an environment using
  potential field planning or direct manual control
  via a sensor glove.

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Project Description
Human Interface System Block Diagram
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Project Description
Robot System Block Diagram
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Project Description - Goals

• Mapping the robots current environment in 3D, in
  real time, and utilizing OpenGL to display the
  data on an LCD eyepiece to provide visual
  feedback
• Provide user override of the automated navigation
  systems via a glove with sensors and software
  with feature recognition
• Implement a sensor (possibly ultrasonic) to
  detect ceiling height
• Implement a grasping device controllable by the
  sensing glove

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Project Description - Goals

• If time permits, attach a 2 degree of freedom
  robotic arm to the grasping device, also
  controllable via sensor glove with feature
  recognition
• Implement Potential Field planning as a method
  for the robot to navigate and map its environment

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Project Description

• Hand sensors shall have lt 3 degrees/second of
  drift.
• Eyepiece shall have a 12 Hz refresh rate.
• Eyepiece shall have 180 degree range of vision
  with 5 degree accuracy.
• Robot shall be able to measure walls within 20 to
  150 cm with 2 cm accuracy.
• Robot shall be able to measure ceiling within 3 m
  with 5 cm accuracy.

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Progress

• ARIA is set-up on lab computer
• Potential Field Algorithm is beginning to be
  utilized
• Joystick manual override being developed
• Wall Creation Algorithm
• Ceiling Sensor
• Eyepiece

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Progress

• Sensor glove drivers
• Sensor glove data
• Communication protocol
• Robot arm interface
• Tracking algorithm

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ProgressSensor Glove
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ProgressServo
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ProgressServo
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ProgressGlove Accelerometer Axis
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ProgressRobot Arm
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ProgressServo
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ProgressPWM Control Scheme of Servos
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ProgressFlowchart of Hand Sensor Calibration
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ProgressFlowchart of Hand Sensor Control Scheme
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Schedule of Tasks
Week 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 arm Attempt to combine ARIA and openGL
2/22 Integrate Dataglove robot arm systems Begin multi threading
3/1-3/8 Test 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 headpiece Replace joystick control with hand
4/19 System Integration Debug hand interface
4/26- Compile Final Report Compile Final Report
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Questions?
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Answers

• 5-Degree of Freedom Combo Board2-axis 500
  degree gyroscopeIDG500
• 3-axis 3g accelerometerADXL335
• 3-Degree of Freedom Digital Compass on Breakout
  BoardHMC5843
• DGV-5 Dataglove