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Software Framework for Teleoperated Vehicles

Software Framework for Teleoperated Vehicles. Team Eye-Create ECE 4007 L01 Karishma Jiva Ali Benquassmi Safayet Ahmed Armaghan Mahmud Khin Lay Nwe. Overview. Software to control and communicate with TGVs Customizable software needed Customers with robotic vehicles

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Software Framework for Teleoperated Vehicles

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  1. Software Framework for Teleoperated Vehicles Team Eye-Create ECE 4007 L01 Karishma Jiva Ali Benquassmi Safayet Ahmed Armaghan Mahmud Khin Lay Nwe

  2. Overview • Software to control and communicate with TGVs • Customizable software needed • Customers with robotic vehicles • $42,140 development cost of test platform

  3. Design Objectives • Flexible modular software architecture • Communication and control over wireless network • Sensors and video feedback

  4. Overall System Description

  5. Overall System Description

  6. Open Interface • Protocol to communicate with iRobot • Commands made of opcode and parameters • Protocol does not implement any hand shaking • RS-232 Serial Interface

  7. Robot End Software Executive Program Communication Library Controlled Robot API TCP/IP Sensors Motion Control Serial Communication USB TCP/IP iRobot Create

  8. Robot End Software GPS Receiver Temperature Sensor Sensors Layer USB Some Other Sensor

  9. Address relay node LAWN Robot End Control End Network Configuration of Test Platform

  10. Layered Structure of Communications

  11. Boundary Preserving Protocol TCP does not preserve message boundaries BPP provides message boundary abstraction

  12. Address Relay Protocol Problem: - DHCP assigns client, server arbitrary addresses - Client needs server address to initiate communication Solution: - Third node with static address- Node relays address between server, client

  13. Server Address Relay Client request Server’s IPV4 address Server not registered request Server’s IPV4 address Address Relay Protocol Message formats Request: single ascii character “r” sent by client Server not registered:4 bytes representing address 255.255.255.255 Server’s IPV4 address:Server’s 4 byte IP address in network byte order

  14. Remote Access Protocol • Remotely access different robot functions e.g. wheel velocity • Transfer sensor data back to the control interface

  15. Description of Video Transfer Protocol To be determined • Should • transfer video frames of sufficient quality • minimize delay in transfer of frames • preserve order of frames • May use UDP to transmit frames

  16. Graphic User Interface (GUI)

  17. Graphic User Interface (GUI)

  18. Development Tools & Environment • Language: C, C++ • Compiler: GCC, MS C++ compiler • OS: Windows CE, Linux • Other Tools: Qt library, MS Visual Studio

  19. Time Line

  20. Cost of Development of Test Platform

  21. Future Work • Code higher layers in robot end software • Complete coding communication library • Complete GUI development at control interface • Integrate all systems and test on LAWN

  22. Quote My work is a game, a very serious game. M. C. Escher (1898 - 1972)

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