I-Guide

Intelligent Guide Robot

Joe Buckner & Nir Chezrony

Advisors:

Dr. Joel Schipper & Dr. James Irwin

Sponsored By:

Northrop Grumman

Presentation Overview

Previous Project Research

Project Summary

Project Goals and Functional Requirements

System Block Diagram

Software Flowchart

Subsumption vs Blackboard Architecture

Accomplishments

Remaining Work

GANTT Chart3

Previous Project Research

Previous Platforms

Magellan Robot

GuideBot (Using Pioneer 2)

Localization Methods and Sensors

Mapping

Feature Recognition

RFID

4

Previous Project Research

Previous Platforms

Magellan Robot

GuideBot (Using Pioneer 2)

Localization Methods and Sensors

Mapping

Feature Recognition

RFID

5

Project Summary

Autonomous Tour Robot – Pioneer 3

2nd and 3rd floor of ECE Department

Utilize Elevator

Localization - Barcodes

Navigation – Topological Decomposition

6

Nodal Navigation

7

Project Goals Drive

Functional Requirements

Successfully Navigate ECE Department

3 floor tour options or 28 locations

Locate waypoints within a 4’ radius

React in a ‘Human-like’ Manner

Avoid all obstacles humans avoid obstacles

Software loop time human reaction time

Transit speed human walking speed

8

System Block Diagram

9

Pioneer

Robot

Battery

TouchscreenSpeakers Laptop

Barcode Reader

Barcode Real World

Sonar Sensors

Bump Sensors

IR Sensors

DC-DC Converter Voltage Regulator

Compass

Wireless

Wired

System Block Diagram

10

Pioneer

Robot

Battery

TouchscreenSpeakers Laptop

Barcode Reader

Barcode Real World

Sonar Sensors

Bump Sensors

IR Sensors

DC-DC Converter Voltage Regulator

Compass

Wireless

Wired

System Block Diagram

11

Pioneer

Robot

Battery

TouchscreenSpeakers Laptop

Barcode Reader

Barcode Real World

Sonar Sensors

Bump Sensors

IR Sensors

DC-DC Converter Voltage Regulator

Compass

Wireless

Wired

System Block Diagram

12

Pioneer

Robot

Battery

TouchscreenSpeakers Laptop

Barcode Reader

Barcode Real World

Sonar Sensors

Bump Sensors

IR Sensors

DC-DC Converter Voltage Regulator

Compass

Wireless

Wired

System Block Diagram

13

Pioneer

Robot

Battery

TouchscreenSpeakers Laptop

Barcode Reader

Barcode Real World

Sonar Sensors

Bump Sensors

IR Sensors

DC-DC Converter Voltage Regulator

Compass

Wireless

Wired

Software Flowchart

14

Path Planning / Localization NavigationObstacle Detection & Avoidance

Barcode Found

Barcode Found

Current Bearing

Obstacle Detected

No ObstacleDistance to Next Barcode

Software Flowchart

15

Path Planning / Localization

Touchscreen

Input

Digital

Compass

Barcode

Reader

NavigationObstacle Detection & Avoidance

Barcode Found

Barcode Found

Current Bearing

Obstacle Detected

No ObstacleDistance to Next Barcode

Audio and

Video

Feedback

Software Flowchart

16

Path Planning / Localization NavigationObstacle Detection &

Avoidance

Sonar

Sensors

IR

Sensors

Barcode Found

Barcode Found

Current Bearing

Obstacle Detected

No ObstacleDistance to Next Barcode

Bump

Sensors

Software Flowchart

17

Path Planning / Localization

Navigation

Sonar

Sensor

IR

Sensors

Digital

Compass

Obstacle Detection & Avoidance

Barcode Found

Barcode Found

Current Bearing

Obstacle Detected

No ObstacleDistance to Next Barcode

Subsumption vs. Blackboard

ArchitectureSubsumption Blackboard

18

High Level

Process

Mid Level

Process

Low Level

Process

X

X

Higher Function Done

Higher Function Done

Higher Function Needed

Higher Function Needed

Decision

Maker

Sensor

Sensor

Sensor

Sensor

Accomplishments

Selected Robot Platform

Built ModelSim Environments

Developed Flowcharts

Path Planning Algorithm

Navigation Algorithm

Interfaced Development HID - Joystick

19

Accomplishments

Selected Localization & Navigation Sensors

Native Sonar Sensors

Barcode Reader

Digital Compass

IR Sensors

20

Incomplete Work

Obstacle Detection/Avoidance Algorithm

Sonar Sensor Filtering Research

Adjusting Gain

Adjusting Firing Order

Erratic Value Check

Rolling Average

Kalman Filter

21

Parts List

22

Component Vendor Part Number Quantity Ordering Cost

Touchscreen 3M 11-81375-225 1

Speakers Cyber Acoustics CA-2908 1 40.00$

IR Sensors Sharp GP2Y0A700K 8 100.00$

Barcode Reader Wasp WLS8400ER 1 600.00$

Rear Sonar Sensors ActivMedia ACAX032 1 470.00$

Compass ActivMedia ACT012 1 1,395.00$

DC-DC Converter Recom RP30-1212SF 1 110.00$

Bumper ActivMedia ACAX013 1 945.00$

ADC to USB with

Terminal Board Pico Technology PP241 1 189.00$

Voltage Regulator National Semiconductor LM317T 1 1.86$

Pioneer ActivMedia P3X0001 1

Grand Total 3,850.86$

Parts List

23

Component Vendor Part Number Quantity Ordering Cost

Touchscreen 3M 11-81375-225 1

Speakers Cyber Acoustics CA-2908 1 40.00$

IR Sensors Sharp GP2Y0A700K 8 100.00$

Barcode Reader Wasp WLS8400ER 1 600.00$

Rear Sonar Sensors ActivMedia ACAX032 1 470.00$

Compass ActivMedia ACT012 1 1,395.00$

DC-DC Converter Recom RP30-1212SF 1 110.00$

Bumper ActivMedia ACAX013 1 945.00$

ADC to USB with

Terminal Board Pico Technology PP241 1 189.00$

Voltage Regulator National Semiconductor LM317T 1 1.86$

Pioneer ActivMedia P3X0001 1

Grand Total 3,850.86$

Sonar Sensor

Software Fix

(Joe)

Wall Follow

Algorithm Test -

Simulation

(Joe)

Wall Follow

Algorithm Test -

Experimental

(Joe)

Obstacle

Detection /

Avoidance

Algorithm Test -

Simulation (Joe)

Obstacle

Detection /

Avoidance

Algorithm Test –

Experimental

(Joe)

Final Run

(Joe & Nir)

Bump Sensor

Software

Interface (Joe)

Barcode

Software

Interface (Nir)

ADC-USB

Software

Interface

(Nir)

Voltage

Regulator

Hardware

Interface (Joe)

Barcode Read

Test

(Joe)

Compass

Software

Interface

(Nir)

Touchscreen

Software

Interface (Nir)

Touchscreen GUI

Software

Interface (Nir)

Navigation /

Localization

Algorithm Test -

Experimental

(Nir)

DC-DC Converter

Hardware

Interface (Joe)

Filming / Audio

Prep

(Joe & Nir)

24

Next Year’s Gantt Chart

25

ID Task NameApr 2009

3/1

1 ADC-USB Software Interface (Nir)

2 Touchscreen Software Interface (Nir)

3 Barcode Software Interface (Nir)

4Touchscreen GUI Software Interface

(Nir)

5 Compass Software Interface (Nir)

6Navigation / Localization Algorithm

Test - Experimental (Nir)

7 Filming / Audio Prep (Joe & Nir)

8Voltage Regulator Hardware Interface

(Joe)

9DC-DC Converter Hardware Interface

(Joe)

10Bump Sensor Software Interface

(Joe)

11 Sonar Sensor Software Fix (Joe)

12 Barcode Read Test (Joe)

13Wall Follow Algorithm Test –

Simulation (Joe)

14Wall Follow Algorithm Test –

Experimental (Joe)

15Obstacle Detection / Avoidance

Algorithm Test - Simulation (Joe)

16Obstacle Detection / Avoidance

Algorithm Test – Experimental (Joe)

17 Final Run (Joe & Nir)

2/1 3/8

Mar 2009

4/53/222/8 2/222/15 4/123/15 3/29

Feb 2009 May 2009

4/19 4/26 5/3

Acknowledgments and

QuestionsDr. Joel Schipper

Dr. James Irwin

Dr. Aleksander Malinowski

Dr. Gary Dempsey

Mr. Nick Schmidt

Mr. Chris Mattus

Phillip Faber

26

High Level Goals

Successfully navigate the ECE

Department

Identify key points throughout a tour

Provide accurate information to the user

Provide a means for user input

27

Full Requirements (1)

Must reach intended goal within a 4’ radius

Avoid all obstacles, moving or stationary

Must detect when battery is at 10% of max

charge

Additional range sensors added to the

Pioneer 3 must have a minimum range

from 6” to 10’

28

Full Requirements (2)

Additional range sensors added to the

Pioneer 3 must have a measurement

accuracy of 5”

Must allow user to select one of 28

locations or one of 3 complete floor tours

Additional compass sensor added to the

Pioneer 3 must provide an accurate

magnetic bearing within 10°

Must have a complete software loop faster

than 180 ms

Must maintain an average speed of 31.5

29

Full Requirements (3)

Must have a complete software loop faster

than 180 ms

Must maintain an average speed of 31.5

in/sec during transit

30

Behavior Based Navigation

31

Model Based Navigation

32