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DO NOT FEED THE ROBOT

DO NOT FEED THE ROBOT. The Autonomous Interactive Multimedia Droid (GuideBot) Bradley University Department of Electrical and Computer Engineering EE-452 Dan Leach and John Hathway Advisor: Aleksander Malinowski May 3rd, 2005. Outline. Project Overview Previous Work

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DO NOT FEED THE ROBOT

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  1. DO NOT FEED THE ROBOT

  2. The Autonomous Interactive Multimedia Droid (GuideBot) Bradley University Department of Electrical and Computer Engineering EE-452 Dan Leach and John Hathway Advisor: Aleksander Malinowski May 3rd, 2005

  3. Outline • Project Overview • Previous Work • Project Description • Flash interface • Navigation • Implementation • Remaining Work • Questions

  4. Overview • Features • Friendly touch screen interface • Auditory and visual greetings • Pioneer 2 robot platform by ActivMedia

  5. Applications Museums Malls

  6. Pioneer 2 Features • GuideBot uses Saphira and PAI software supplied by ActivMedia for control of movement and other functions • Eight sonar transducers are positioned in a ring around the front of GuideBot • PAI software controls all rotational and translational movement, along with taking in sonar data • Onboard heading information allows for precise turning • Onboard distance is read from wheel encoders

  7. System Block Diagram Sensor Data User Input Via Touch Screen PC Pioneer 2 Robotic Platform Movement of Platform Mapping Data Display Output Audio Output

  8. Previous Work Java-based Manual Web Control

  9. Data Flow Diagram Serial Port Saphira Code On Pioneer2 Flash XML Socket C-based Robot Server TCP/IP

  10. Graphical User Interface

  11. Graphical User Interface

  12. Graphical User Interface

  13. Graphical User Interface

  14. Graphical User Interface

  15. Finding Dr. Huggins

  16. Mapping File • Index,Name,Floor,Lane,X,Y,Crosses To,Is A Stop,Is A Patrol,Type,Manual Commands • 0,Origin,3,1,0,0,1,1,1,1,0; • 1,SEStairwell,3,1,191,0,1,1,0,1,0; • 2,MalinowskiHW,3,1,762,0,0,1,0,0,0; • 3,WRestroom,3,1,1219,0,0,1,0,0,0; • 4,Room327,3,1,1661,0,0,0,0,0,0; • 5,Room326,3,1,2377,0,0,0,0,0,0; • 6,RFHW,3,1,2682,0,1,0,0,0,0; • 7,NEStairwell,3,1,3139,0,1,0,1,0,0; • 8,SWindow,3,2,0,183,1,0,0,0,0; • 9,Room330,3,2,747,183,0,0,0,1,0; • 10,Prasad,3,2,1036,183,1,1,0,0,0; • …

  17. Finding Dr. Shastry

  18. Waypoint Detection • Doorframes, open hallways, wall drop-offs • Waypoint checked every 300 ms using one sonar transducer • Waypoints are only looked for when GuideBot is within a predefined range of the waypoint • Offices and other sites that are considered waypoints that have no distinguishable features will be found using the nearest waypoints and the distance GuideBot has traveled • Most doorframes have a 9cm drop off between the wall and door which is large enough to check with the sonar transducers 9 cm

  19. Waypoints

  20. Collision Avoidance • Front two sonar transducers are used to detect objects and obstacles in GuideBot’s path • Threshold distance of 1 meter is used for objects in path • If there is an obstruction, wait 30 seconds for object to move from path • Try to navigate around object if it does not move and continue on path

  21. Waypoint Detection and Collision Avoidance

  22. Drift Correction • GuideBot is designed to follow a straight path to its destination • Problems with drifting have been observed and a method for correction has been devised using trigonometry • driftangle = (atan2(driftdist, xdistance)) -2Θ Y Θ X Y’ Wall

  23. Drift Correction

  24. Remaining Work • Implement hallway crossing • Implement manual waypoint paths • Add additional GUI interaction / motion sensing

  25. Guiding Down The Hallway

  26. Questions? More detailed information can be found at: http://cegt201.bradley.edu/projects/proj2005/guidebot/

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