chadormalu urban robot
DESCRIPTION
Keeping them clean the streets and sidewalks are always one of the top priorities of municipalities. Maintain cleanliness in particular areas such as busy city sidewalks downtown commercial streets, parks and squares are two-fold significance. They not only protect the health of the citizens to maintain cleanliness, but also helps the town beauty.Urban environments are carried out each day by municipal cleaning agents. Cleaning the streets and sidewalks during certain hours of the day for obvious reasons, usually early in the morning before the busy streets is done. Especially the large and noisy machines or dust is generated by municipal officials to the citizens can be very annoying.Ideal solution for solving the problems of urban cleaning robots. These bots collect garbage from the streets and sidewalks of the city,Robots aim to improve the quality of urban life, especially in the central areas of the city. Urban streets where the traffic of people and keeping the streets clean, prevent erosion and keep alive the city is the.TRANSCRIPT
Chadormalu Urban Robot
Pouya Mansournia
Amirkabir University of Technology Nov 1th, 2013 – AUTCup Tehran, Iran
Mohammad Ali Kamkar
Mona Yeganedoost
Mohammad.H Heydari
شهرداری 2منطقه
Kia Khoshbakht
Shayan Khorsandi
- Introduction to Urban Robotic- Technical Introduction
- Electronic overview
- Mechanical overview
- Software architecture- Visions of Urban Robots- Simulation localization and mapping (SLAM)
Urban Robot League
Tasks– Finding Rubbish in a Street– Segregation rubbish– Marking locations on an automatically generated map
Brief History
• Start (2009) • 1st place in Robocup junnior Rescue (2009) • 1st place in Robocup Rescue Graz (2009) • 1st place in Khwarizmi Robotics Competitions (2010) • 2nd place in Robocup junnior Soccer (2011) • 3rd place in Iranopen 2D (2011) • 3rd place in Iranopen 2D (2012) • 2nd place in Amirkabir Robotics Competitions (2012)-Urban Robot
Main Board• Industry grade Motherboard
– Small (115 x 165 mm) – Powerful
• Pentium M 1.4 GHz, 2M L2 cache– Robust
• Fanlless (-40 to +80 C)• Compact Flash compatible• PC/104-plus compatible• 0% ~ 90% relative humidity
Electronics Features
1. Main Board
Main Processor ARM lpc2378 NXP
Work @ 25Mhz Crystal
3 Analog Power (+3,+5,+5A)
Driver Motor L6203
Electronics Features
2. Sensors
a. Compass Sensorsb. Laser Scanner Hokuyo URG-04LXc. Distance Sensorsd. Color Sensorse. Mercury Switchf. AVL ( GPS-GSM )
GPS Outputs
$GPGLL,3543.016368,N,05123.721984,E,110611.000,A,A*50$GPGSA,A,3,20,23,32,16,13,01,07,31,04,,,,1.54,0.87,1.27*0E$GPGSV,3,1,12,20,84,181,36,23,58,319,37,32,58,128,46,30,39,082,*7E$GPGSV,3,2,12,16,36,116,46,13,33,288,41,01,21,201,51,07,17,224,51*7C$GPGSV,3,3,12,31,16,043,34,04,13,314,28,11,05,191,,10,00,314,*7E$GPRMC,110611.000,A,3543.016368,N,05123.721984,E,0.000,302,120312,,,A*7B$GPVTG,302,T,,M,0.000,N,0.000,K,A*12$GPZDA,110611.000,12,03,2012,,*51
Programming
1. Problems
a. How to pass all streets?b. How to clean all walls and blocks?c. How to pass barriers?d. How to pass movable barriers?
- Every “1” in table means of untraveled way- Every “0” in table means of blocked way
How to pass all streets? a. Binary Table
``
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28
123456789
10111213141516171819202122232425262728 mXn
T11(2,18)T12(3,18)T13(4,18)T14(5,18)T15(6,18)T16(5,17)T17(5,16)T18(5,15)T19(5,14)T20(5,13)T21(5,12)T22(5,11)T23(5,10)
First
Second
Passed ways' addresses saves in a vector and for second move, Robot uses the saved reverse addresses.
SLAM
• SLAM: Simultaneous Localization And Mapping– Generating a map of unknown environment while
localizing the mapping system within that map
Navigation and SLAM
Mapping
Motion control
Localization
SLAM
Active localizationExploration
Integrated approaches
© Makarenko et al
The SLAM Problem
Ground truth map(what happens)
Global map(what robot thinks)
• Given – Robot controls– Nearby measurements
• Estimate– Robot state (position, orientation)– Map of world features
Local map
Future Works
1. Using Quad-Copter for anonymous mapping.2. Using 6 Degree automatic arm for collecting special garbage.