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September 2011 Computer Engineering Department
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
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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
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prof. Dominik Sankowski Computer Engineering Department
Image auto-focus algorithm
Real-time execution Precise lens position control Continuous auto-focusing
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prof. Dominik Sankowski Katedra Informatyki Stosowanej
Template detection and tracking
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prof. Dominik Sankowski Computer Engineering Department
Autonomous template tracking
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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
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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
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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
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prof. Dominik Sankowski Computer Engineering Department
Autonomous obstacle avoidance
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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
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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
