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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. (. +. +. +. Wireless Hub, Game adapter. Olympus Board. Amigobot. )*3+. + 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 ( + + + Wireless Hub, Game adapter Olympus Board Amigobot )*3+ + 4* CMUCAM Laptop GT SMARTS

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

  4. Gantt Chart

  5. Task Update – 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 • Challenges: • Interfacing the wireless communication software with the GUI • Anticipated challenges: • Rendering the visual data received

  6. Task Update - 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 • Issues / Challenges: • Creating an internal xy coordinate system for the Amigobot

  7. Task Update – 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 • Issues/Challenges: • Running the Server and Client on different platforms (Java and .Net framework) • Concerns: • Receiving Olympus boards on time • Determining the best manner in which to transmit visual data

  8. Task Update - 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 • Challenges: • Existing code was badly commented • Concerns: • Completing task three without compromising the Amigobot functionality • Transmitting image data over the Ethernet connection

  9. Questions ?

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