September 2011

Computer Engineering Department

prof. Dominik Sankowski Computer Engineering Department2

Nowadays robots take a significant part in almost all fields of life of mankind.

prof. Dominik Sankowski Computer Engineering Department3

Everywhere where precision, repetitiveness or endurance are required robots support people in

realization of their purposes.

prof. Dominik Sankowski Computer Engineering Department4

They automate production lines

prof. Dominik Sankowski Computer Engineering Department5

They support human in medicine

prof. Dominik Sankowski Computer Engineering Department6

A special group of machines are robots dedicated to military purposes. One of their unique function is an

ability to make decisions on the battlefield.

MOBILE ROBOT FOR SURVEILLANCE AND MINE DETECTION TASKS

TECHNICAL UNIVERSITY OF LODZ

Computer Engineering Department

Project chairman: prof. Dominik SankowskiSeptember 2011

prof. Dominik Sankowski Computer Engineering Department

Constructors8

Computer Engineering DepartmentTechnical University of Lodz

Prexer

Computer Engineering Department

prof. Dominik Sankowski Computer Engineering Department

Scientific team9

Marcin Bartłomiejczyk

Marcin Bąkała

Sylwester Błaszczyk

Wojciech Dadan

Piotr Duch

Rafał Jachowicz

Sławomir Jeżewski

Roman Krzeszewski

Maciej Łaski

Zbigniew Stolarski

Adam Śmigielski

Adam Wulkiewicz

prof. Dominik SankowskiStanisław

Kwiatkowski

prof. Dominik Sankowski Computer Engineering Department

Mobile Robot systems

1. Vision system2. Sensor system(laser scanner, GPS

itp.)3. Control system4. Metal objects detection system

10

prof. Dominik Sankowski Computer Engineering Department

Vision system - head11

prof. Dominik Sankowski Computer Engineering Department

Vision system – cameras12

Daylight camera

Noctovision camera

Thermovisioncamera

prof. Dominik Sankowski Katedra Informatyki Stosowanej

Picture in Picture system

Multiple source image analysis and merging

EDMA system usage Real-time execution

13

prof. Dominik Sankowski Computer Engineering Department

Image auto-focus algorithm

Real-time execution Precise lens position control Continuous auto-focusing

14

prof. Dominik Sankowski Katedra Informatyki Stosowanej

Template detection and tracking

15

prof. Dominik Sankowski Computer Engineering Department

Autonomous template tracking

16

prof. Dominik Sankowski Computer Engineering Department

Operator mobile console17

Intuitive user interface

Military endurance standards tests

Multiple choice of semi-automatic commands

prof. Dominik Sankowski Computer Engineering Department

Operator mobile console18

prof. Dominik Sankowski Computer Engineering Department19

Mobile robot sensors

1. Hokuyo – laser scanner

2. Sharp – infrared distance sensor

3. Senix – ultrasonic sensor

4. xSens - gyroscope, accelerometer, compass

5. ublox - GPS

prof. Dominik Sankowski Computer Engineering Department

Mobile robot sensors - placement

20

Gyroscope,acceletormeter,compass

Laser scanner

GPS

prof. Dominik Sankowski Katedra Informatyki Stosowanej

Map of the environment

Occupancy grid – areas on the grid indicates probabilities of obstacle presence in the robot environment

Simultaneous localization and map building

Data from the laser scanner are sufficient for map building

21

prof. Dominik Sankowski Computer Engineering Department

Map building22

prof. Dominik Sankowski Computer Engineering Department

Map building23

prof. Dominik Sankowski Computer Engineering Department

Map building24

prof. Dominik Sankowski Computer Engineering Department

Map building25

prof. Dominik Sankowski Computer Engineering Department

Map building26

prof. Dominik Sankowski Computer Engineering Department

Map building27

prof. Dominik Sankowski Computer Engineering Department

Map building28

prof. Dominik Sankowski Computer Engineering Department

Map building29

prof. Dominik Sankowski Computer Engineering Department

Map building30

prof. Dominik Sankowski Katedra Informatyki Stosowanej

Trajectory definition

Trajectory is calculated to avoid obstacles present in the environment of the robot

A* algorithm optimalized implementation for DSP processors

31

prof. Dominik Sankowski Computer Engineering Department

Autonomous obstacle avoidance

32

prof. Dominik Sankowski Computer Engineering Department

Mobile robot movement detection Infrared distance sensors usage Object detection in the ambience of the

robot algorithm Signal processors usage Real-time execution

33

Następny pomiar

S1_data[N]S2_data[N] i - pozycja dx [ mm]

prof. Dominik Sankowski Computer Engineering Department

Control system34

Layer 1: drive system – processors and software for low-level programming control of robot’s wheels and arm systems

Layer 2: Sensor system – processors and software dedicated to sensor devices support

Layer 3: Sensor data integration – processors and software dedicated to analysis and integration of the data received from the sensor system

Layer 4: Image acquisition – devices for image acquisition and preprocessing. Should be isolated from the sensor system due to high resources consuming requirements

Layer 5: Environment reconstruction – microprocessor system dedicated to analysis and integration of the integrated sensor data and the image data

Layer 6: Navigation system – software dedicated to trajectory calculation

Layer 7: Communication system – processors and software dedicated to communication between the robot and the operator

prof. Dominik Sankowski Computer Engineering Department

Metal object detection system35

Light, kevlar construction Automatic calibration according to surface

structure Large detection range Light detection signalization

prof. Dominik Sankowski Computer Engineering Department

Metal object detection system36

prof. Dominik Sankowski Computer Engineering Department

Thank you for attention37