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Mobile Robot NavigationMobile Robot Navigationwith Human Interface with Human Interface

DeviceDeviceDavid BucklesDavid BucklesBrian WalshBrian Walsh

Advisor:Advisor:

Dr. MalinowskiDr. Malinowski

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OutlineOutline

Project SummaryProject Summary Project DescriptionProject Description ProgressProgress Schedule of TasksSchedule of Tasks

44

Project SummaryProject Summary

A pioneer 3D-X robot shall map an A pioneer 3D-X robot shall map an environment in openGL.environment in openGL.

This map shall be displayed on an This map shall be displayed on an LCD eyepiece in real time.LCD eyepiece in real time.

The robot shall navigate an The robot shall navigate an environment using potential field environment using potential field planning or direct manual control via planning or direct manual control via a sensor glove.a sensor glove.

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Project DescriptionProject DescriptionHuman Interface System Block Diagram

66

Project DescriptionProject DescriptionRobot System Block Diagram

77

Project Description - GoalsProject Description - Goals Mapping the robot’s current environment Mapping the robot’s current environment

in 3D, in real time, and utilizing OpenGL to in 3D, in real time, and utilizing OpenGL to display the data on an LCD eyepiece to display the data on an LCD eyepiece to provide visual feedbackprovide visual feedback

Provide user override of the automated Provide user override of the automated navigation systems via a glove with navigation systems via a glove with sensors and software with feature sensors and software with feature recognitionrecognition

Implement a sensor (possibly ultrasonic) Implement a sensor (possibly ultrasonic) to detect ceiling heightto detect ceiling height

Implement a grasping device controllable Implement a grasping device controllable by the sensing gloveby the sensing glove

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Project Description - GoalsProject Description - Goals

If time permits, attach a 2 degree of If time permits, attach a 2 degree of freedom robotic arm to the grasping freedom robotic arm to the grasping device,device, also controllable via sensor also controllable via sensor glove with feature recognitionglove with feature recognition

Implement Potential Field planning Implement Potential Field planning as a method for the robot to navigate as a method for the robot to navigate and map its environment and map its environment

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Project DescriptionProject Description

Hand sensors shall have < 3 Hand sensors shall have < 3 degrees/second of drift.degrees/second of drift.

Eyepiece shall have a 12 Hz refresh rate.Eyepiece shall have a 12 Hz refresh rate. Eyepiece shall have 180 degree range of Eyepiece shall have 180 degree range of

vision with 5 degree accuracy.vision with 5 degree accuracy. Robot shall be able to measure walls Robot shall be able to measure walls

within 20 to 150 cm with 2 cm accuracy.within 20 to 150 cm with 2 cm accuracy. Robot shall be able to measure ceiling Robot shall be able to measure ceiling

within 3 m with 5 cm accuracy.within 3 m with 5 cm accuracy.

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ProgressProgress

ARIA is set-up on lab computerARIA is set-up on lab computer Potential Field Algorithm is beginning Potential Field Algorithm is beginning

to be utilizedto be utilized Joystick manual override being Joystick manual override being

developeddeveloped Wall Creation AlgorithmWall Creation Algorithm Ceiling SensorCeiling Sensor EyepieceEyepiece

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ProgressProgress

Sensor glove driversSensor glove drivers Sensor glove dataSensor glove data Communication protocolCommunication protocol Robot arm interfaceRobot arm interface Tracking algorithmTracking algorithm

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ProgressProgressSensor GloveSensor Glove

1313

ProgressProgressServoServo

1414

ProgressProgressServoServo

1515

ProgressProgressGlove Accelerometer AxisGlove Accelerometer Axis

1616

ProgressProgressRobot ArmRobot Arm

1717

ProgressProgressServoServo

1818

ProgressProgressPWM Control Scheme of ServosPWM Control Scheme of Servos

1919

ProgressProgressFlowchart of Hand Sensor CalibrationFlowchart of Hand Sensor Calibration

2020

ProgressProgressFlowchart of Hand Sensor Control SchemeFlowchart of Hand Sensor Control Scheme

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Schedule of TasksSchedule of TasksWeek 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 armAttempt to combine ARIA and

openGL

2/22Integrate Dataglove & robot arm

systems Begin multi threading

3/1-3/8Test 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 headpieceReplace joystick control with

hand

4/19 System Integration Debug hand interface

4/26- Compile Final Report

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Questions?Questions?

2323

AnswersAnswers

• 5-Degree of Freedom Combo Board:5-Degree of Freedom Combo Board:2-axis 500 degree gyroscope2-axis 500 degree gyroscopeIDG500IDG500

• 3-axis 3g accelerometer3-axis 3g accelerometerADXL335 ADXL335

• 3-Degree of Freedom Digital Compass 3-Degree of Freedom Digital Compass on Breakout Boardon Breakout BoardHMC5843 HMC5843

• DGV-5 DatagloveDGV-5 Dataglove