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Mobile Robot Navigation with Human Interface Device

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Mobile Robot Navigation with Human Interface Device David Buckles Brian Walsh Advisor: Dr. Malinowski Outline Project Summary Project Description Progress Schedule of ... – PowerPoint PPT presentation

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Title: Mobile Robot Navigation with Human Interface Device


1
(No Transcript)
2
Mobile Robot Navigation with Human Interface
Device
  • David Buckles Brian Walsh
  • Advisor
  • Dr. Malinowski

3
Outline
  • Project Summary
  • Project Description
  • Progress
  • Schedule of Tasks

4
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.

5
Project Description
Human Interface System Block Diagram
6
Project Description
Robot System Block Diagram
7
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

8
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

9
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.

10
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

11
Progress
  • Sensor glove drivers
  • Sensor glove data
  • Communication protocol
  • Robot arm interface
  • Tracking algorithm

12
Progress Sensor Glove
13
Progress Servo
14
Progress Servo
15
Progress Glove Accelerometer Axis
16
Progress Robot Arm
17
Progress Servo
18
Progress PWM Control Scheme of Servos
19
Progress Flowchart of Hand Sensor Calibration
20
Progress Flowchart of Hand Sensor Control Scheme
21
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
22
Questions?
23
Answers
  • 5-Degree of Freedom Combo Board 2-axis 500
    degree gyroscope IDG500
  • 3-axis 3g accelerometer ADXL335
  • 3-Degree of Freedom Digital Compass on Breakout
    Board HMC5843
  • DGV-5 Dataglove
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