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Rokenbok Autonomous Robot Project

Rokenbok Autonomous Robot Project. J Daniel Allison Henrik Christophersen David Coley David Do Bryan Gwin. Motivations. International Aerial Robotics Competition

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Rokenbok Autonomous Robot Project

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  1. Rokenbok Autonomous Robot Project J Daniel Allison Henrik Christophersen David Coley David Do Bryan Gwin

  2. Motivations • International Aerial Robotics Competition • Level 3 Qualification: relay reconnaissance data derived from an autonomous Aerial Robot (or subvehicle) operating from within the target structure, back to the actual starting point (3km away)

  3. Our Project • Robot is placed in a room; walls, and obstructions are simple but unknown. Floor is smooth. Random initial orientation, right-side up on its tracks. • Mission: Intelligently explore a 20x20 meter area, avoiding obstacles, allow mounted camera to see all visible area.

  4. Why Use Excalibur Devices? • Low cost and easy to use. • Development Kit includes: - A 200-MHz processor APEX 20K. - Nios embedded processor with 32-bit data path. - Quartus II Design Software

  5. Block Diagram of proposed system Left Direction Relay Speed Control Left Motor Front IR Yaw Servo FPGA APEX 20KE Turret IR Sonar Speed Control Right Direction Relay Right Motor Turret Servo

  6. Navigation – Artificial Intelligence • Navigation space: 20.5m x 20.5m search area consisting of 128 x 128 cells, each 16cm x 16cm. • Vehicle position defined through x, y, hdg (unit = 1cm). • Start position = (1024,1024,0)

  7. Navigation strategy - layers • Main Mission loop: • Map detect room 1  exit room 1  map  detect room 2 etc. • High-level navigation functions: • Desired drive direction • Room detection • Utility functions: • Scan – map, Turn management, Drive management • Error correction • Cell openness, Wall-length, Unexplored cells

  8. Software Development • NIOS = Brain • Implemented using C • 3 parts • Map • Robot memory • 128x128 -16 cm2 cells • Drivers • IR Sensors, Sonar, Turret, Driving Mechanism • Main Function • Implements algorithm • Executes functions • Writes to map • Makes driving decisions

  9. Timeline / Structure • Test Menu • Scanning & Mapping • Map GUI • Main Loop

  10. Tasks

  11. Milestones • Milestone 1 • Scan & Map, Map GUI • Milestone 2 • Drive Hardware, Turret, Turret Scan & Map, Turning • Milestone 3 • Sonar, Sonar Scan & Map, Openess Sensing, Uncharted Sensing, Room Sensing • Finished Design • Error Correction, Testing

  12. Gantt Chart

  13. Questions ?

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