Mobile Robot Navigationwith Human Interface Device

David BucklesBrian Walsh

Advisor:

Dr. Malinowski

Outline

• Project Summary

• Previous Work

• Project Description

• Equipment List

• Schedule of Tasks

Project Summary

• A pioneer 3D-X robot shall map an environment in openGL.

• This map shall be displayed on an LCD eyepiece in real time.

• The robot shall navigate an environment using potential field planning or direct manual control via a sensor glove.

Previous Work

• In 2010 Scott Tipton and Nicholas Halabi programmed the Pioneer 3D-X to use potential field planning and had joystick control.

• Inertial Measurement Unit specification and filter research completed by Weston Taylor and Chris Budzynski.

• Inertial Measurement Unit filter research completed by Luke Pfister and Daniel Monroe.

Project DescriptionHuman Interface System Block Diagram

Project DescriptionRobot System Block Diagram

Project Description - Goals

• Mapping the robot’s current environment in 3D, in real time, and utilizing OpenGL to display the data on an LCD eyepiece to provide visual feedback

• Provide user override of the automated navigation systems via a glove with sensors and software with feature recognition

• Implement a sensor (possibly ultrasonic) to detect ceiling height

• Implement a grasping device controllable by the sensing glove

Project Description - Goals

• If time permits, attach a 2 degree of freedom robotic arm to the grasping device, also controllable via sensor glove with feature recognition

• If time permits, implement Potential Field planning as a method for the robot to navigate and map its environment

• If time permits, add force-feedback functionality to the glove that is used to provide feedback from the grasping mechanism or in manual override mode for obstacle avoidance.

Project Description

• Hand sensors shall have < 3 degrees/second of drift.

• Eyepiece shall have a 12 Hz refresh rate.• Eyepiece shall have 180 degree range of

vision with 5 degree accuracy.• Robot shall be able to measure walls

within 20 to 150 cm with 2 cm accuracy.• Robot shall be able to measure ceiling

within 3 m with 5 cm accuracy.

Equipment List - Hardware

• 1x Pioneer 3D-X• 2x Laptop• 1x LCD eyepiece• 1x Sensor Glove• 2x MicroController• 1x 2-Axis Gyroscope• 1x 3-Axis Accelerometer• 1x 3-Axis Digital Compass

Equipment List - Software

• Microsoft Visual Studio 2005– openGL Utility Toolbox– Aria Mobile Robot Platform

• Silicon Labs IDE

Progress

• An openGL environment is fully navigable by a simulated robot.

• A set of drawWall functions can reproduce an existing map.

• Determined specifications for project components.

• Researched sensor fusion techniques• Selected components to meet

specifications.

Progress

Draw Wall Functionvoid drawWall(float x1, float x2, float h, float z1, float z2){

glBegin(GL_QUADS); //Begin quadrilateral coordinatesglColor3f(1,0.5f,1);glVertex3f(x1, -2.0f, z1);

glVertex3f(x2, -2.0f, z2); glVertex3f(x2, -0.5f, z2); glVertex3f(x1, -0.5f, z1);

glEnd();}

Progress

Schedule of TasksWeek Hardware - David Software - Brian

1Test Accuracy of Accelerometer, Digital

Compass, and Gyroscope Set-up Wall objects

2 Test and interface Dataglove Set-up Wall objects

3 Begin to construct filter for MEMS Devices Make Wall creation algorithm

4 Filter Construction Simulate 3D Map

5 Filter Construction Modify navigation code for infrared

6-7 Filter Construction Add in ceiling detection

8 Begin to integrate LCD headpiece Preliminary wireless transmission

9 Continue to integrate LCD headpiece openGL to headpiece

10 Begin to integrate Hand Debug headpiece interface

11 Continue to integrate Hand Replace joystick control with hand

12 System Integration Debug hand interface

13-15 Compile Final Report

Questions?

Answers

– 5-Degree of Freedom Combo Board:2-axis 500 degree gyroscopeIDG500

– 3-axis 3g accelerometerADXL335

– 3-Degree of Freedom Digital Compass on Breakout BoardHMC5843

– DGV-5 Dataglove