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Robot Convoy

Robot Convoy . Anees Elhammali Michael Malluck John Parsons Namrata Sopory. Project Overview . Aim : To simulate a remotely monitored and partially controlled convoy. Convoy bot =. 802.11b hardware. (. +. +. )*3+. Wireless Hub, Game adapter. Olympus Board. Amigobot. +. + 4*.

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Robot Convoy

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  1. Robot Convoy Anees Elhammali Michael Malluck John Parsons Namrata Sopory

  2. Project Overview Aim: To simulate a remotely monitored and partially controlled convoy Convoy bot = 802.11b hardware ( + + )*3+ Wireless Hub, Game adapter Olympus Board Amigobot + + 4* Laptop GT SMARTS CMUCAM

  3. Overview Contd. Laptop to control overall application User Interface Front and Back end Ethernet Communications Driver Amigobot Driver CMUCam Driver needed for visual feedback Wireless Link Master Robot Wireless Link Slave Robot1 Slave Robot2 Wireless Link • Goal: Simulate the behavior of a convoy with three robots

  4. Gantt Chart

  5. User Controls Send start and stop commands for appropriate bots Turn buttons rotate the bot by 90 degrees Images display in a separate window rather than in the GUI

  6. User Controls • Tasks: • Develop a GUI for User Controls • Development of the GUI backend • Establish wireless communication with an Amigobot • Send movement commands to the Amigobot • Get visual data from the Amigobot • Get obstacle encounter notification from Amigobot • Multithreading the GUI backend to service multiple functions • Resolved Challenges: • Interfacing the wireless communication software with the GUI • Rendering the visual data received

  7. Amigobot Driver Amigobot High Level Algorithm Pulser AmigoComm MyStatus InfoUpdater

  8. Amigobot Driver • Tasks: • Send movement commands to the Amigobot and have it respond • Receive and store sensor data from the Amigobot • Receive path movement data from the laptop • Store path movement data • Be able to transmit all data over a wireless Ethernet link • Enable multithreading for the different Amigobot functions • Future Improvement: • Creating an internal xy coordinate system for the Amigobot

  9. Ethernet Communications GUI IP Dynamic Bot1 IP 192.168.1.150 Visual Client Port 5555 Command Client Port 6666 Visual Server Port 5555 Commands Server Port 6666 Executed Commands Client Port 4444 Bot2 IP 192.168.1.160 Bot3 IP 192.168.1.170 Executed Commands Client Port 8888 Commands Server Port 4444 Commands Server Port 8888

  10. Ethernet Communications • Tasks: • Establish wireless “server-client” communication • Send data over the wireless link • Enable multithreading of the servers • Establish communications and data transfer between two Olympus boards • Resolved Challenges: • Running the Server and Client on different platforms (Java and .Net framework) • Receiving Olympus boards on time (sort of) • Determining the best manner in which to transmit visual data

  11. CMUCam Driver • Tasks: • Do away with unnecessary built in functionality • Build efficient code to get an image from the camera • Send frequently refreshed images to the laptop • Resolved Challenge: • Transmitting image data over the Ethernet connection • Remaining Issue: • Camera image does not display in the GUI

  12. Movement Algorithms Bot1 Bot1 receives and executes command from user Bot1 sends command to Bot2 Bot2 stores command in a vector When Bot2 is activated, it begins executing the commands in its vector Bot2 sends command to Bot3 Bot3 stores and then executes the command Bot2 Bot3

  13. Movement Algorithms • Tasks • Make first robot respond to commands from user • Send commands from Bot1 to Bot2 and from Bot2 to Bot3 • Store commands in Bots 2 and 3 • Make Bot1 and Bots 2 and 3 stop and start when commanded to do so • Make Bots 2 and 3 not move until they can do so without ramming previous bot • Future Improvement • Implement sonar sensors along with an xy coordinate system to allow bots to detect and navigate around obstacles

  14. Robot Construction Com1 Ethernet Com2 Power Voltage Control Card

  15. Robot Construction • Tasks • Run battery terminals into AmigoBot • Assemble voltage control card • Mount all hardware and wire it together • Resolved Problems • Error made in PCB, fixed manually • All bots had to be made at the same time due to late arriving parts, but no major problems resulted

  16. DEMO TIME!

  17. Questions ?

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