Chadormalu Urban Robot

Pouya Mansournia

Amirkabir University of Technology Nov 1th, 2013 – AUTCup Tehran, Iran

Mohammad Ali Kamkar

Mona Yeganedoost

Mohammad.H Heydari

شهرداری 2منطقه

Kia Khoshbakht

Shayan Khorsandi

- Introduction to Urban Robotic- Technical Introduction

- Electronic overview

- Mechanical overview

- Software architecture- Visions of Urban Robots- Simulation localization and mapping (SLAM)

Urban Robot League

Tasks– Finding Rubbish in a Street– Segregation rubbish– Marking locations on an automatically generated map

Brief History

• Start (2009) • 1st place in Robocup junnior Rescue (2009) • 1st place in Robocup Rescue Graz (2009) • 1st place in Khwarizmi Robotics Competitions (2010) • 2nd place in Robocup junnior Soccer (2011) • 3rd place in Iranopen 2D (2011) • 3rd place in Iranopen 2D (2012) • 2nd place in Amirkabir Robotics Competitions (2012)-Urban Robot

Main Board• Industry grade Motherboard

– Small (115 x 165 mm) – Powerful

• Pentium M 1.4 GHz, 2M L2 cache– Robust

• Fanlless (-40 to +80 C)• Compact Flash compatible• PC/104-plus compatible• 0% ~ 90% relative humidity

Electronics Features

1. Main Board

Main Processor ARM lpc2378 NXP

Work @ 25Mhz Crystal

3 Analog Power (+3,+5,+5A)

Driver Motor L6203

Electronics Features

2. Sensors

a. Compass Sensorsb. Laser Scanner Hokuyo URG-04LXc. Distance Sensorsd. Color Sensorse. Mercury Switchf. AVL ( GPS-GSM )

Electronics Features

3. Power Board

a. Brushesb. Motorsc. Relaysd. Water Pumps

Electronics Features

4. GPS Localizationa. GSM Communication Chipb. GPS

GPS Outputs

$GPGLL,3543.016368,N,05123.721984,E,110611.000,A,A*50$GPGSA,A,3,20,23,32,16,13,01,07,31,04,,,,1.54,0.87,1.27*0E$GPGSV,3,1,12,20,84,181,36,23,58,319,37,32,58,128,46,30,39,082,*7E$GPGSV,3,2,12,16,36,116,46,13,33,288,41,01,21,201,51,07,17,224,51*7C$GPGSV,3,3,12,31,16,043,34,04,13,314,28,11,05,191,,10,00,314,*7E$GPRMC,110611.000,A,3543.016368,N,05123.721984,E,0.000,302,120312,,,A*7B$GPVTG,302,T,,M,0.000,N,0.000,K,A*12$GPZDA,110611.000,12,03,2012,,*51

Electronics Features

5. Power Suppliera. Switching Powerb. Analog Power

Mechanical Features

1. Physical & Mobility

Mechanical Features

2. Cleaner Tools

Programming

1. Problems

a. How to pass all streets?b. How to clean all walls and blocks?c. How to pass barriers?d. How to pass movable barriers?

- Every “1” in table means of untraveled way- Every “0” in table means of blocked way

How to pass all streets? a. Binary Table

``

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28

123456789

10111213141516171819202122232425262728 mXn

T11(2,18)T12(3,18)T13(4,18)T14(5,18)T15(6,18)T16(5,17)T17(5,16)T18(5,15)T19(5,14)T20(5,13)T21(5,12)T22(5,11)T23(5,10)

First

Second

Passed ways' addresses saves in a vector and for second move, Robot uses the saved reverse addresses.

SLAM

• SLAM: Simultaneous Localization And Mapping– Generating a map of unknown environment while

localizing the mapping system within that map

Navigation and SLAM

Mapping

Motion control

Localization

SLAM

Active localizationExploration

Integrated approaches

© Makarenko et al

The SLAM Problem

Ground truth map(what happens)

Global map(what robot thinks)

• Given – Robot controls– Nearby measurements

• Estimate– Robot state (position, orientation)– Map of world features

Local map

Future Works

1. Using Quad-Copter for anonymous mapping.2. Using 6 Degree automatic arm for collecting special garbage.

Thanks for your spiritual and financial support

Chadormalu Mining & Industrials Co.

Municipality Region 2

شهرداری 2منطقه