P10216 – Robot Navigation and Plant Platform Mahbubul Alam (CE) – Team Lead Corey Provencher...
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Transcript of P10216 – Robot Navigation and Plant Platform Mahbubul Alam (CE) – Team Lead Corey Provencher...
P10216 – Robot Navigation and Plant Platform
Mahbubul Alam (CE) – Team LeadCorey Provencher (EE) – Technical LeadMarcus Gwillim (CE)Alan Olson (EE)Nicolas Bouret (EE)
Introduction and Project Goals
• Project is part of a joint team endeavor in the Vehicle Systems and Technologies Track.
• Goal is to develop a navigation system for the robotic platform developed by P10215.– System uses navigation and plant sensors in order to capture real-
world data, and gain an understanding of the surroundings.– Develop firmware for all of the sensors.– Develop software to perform navigational tasks using sensor data.– Maintain a wireless connection to a host computer in order to send
status updates.– Hand off project to incoming P10217 and P10218 teams.
Team Roles
• Maha Alam – Team Lead, software development, sensor integration with software.
• Corey Provencher – Technical Lead, firmware development, I2C protocol, hardware integration.
• Nicolas Bouret – Sensor testing, sensor integration, soldering and electronics mounting.
• Alan Olson – Sensor testing, power management, integration and testing.
• Marcus Gwillim – Linux administration, motor control communication, navigation software development.
Customer Needs
Engineering Specs
System Architecture
Firmware Architecture
Software Architecture
Initialization
Take Care of Plant
Navigate/Wander
2 hours have passed to take care of plant
No
Yes
Store home position
Spawn other threads
Robot Controller
thread
Navigation Sensors Thread
Has been 1 second?
Check navigation sensors and write to common buffer
Yes
No
Plant Sensors Thread
Check plant sensors and
write to common buffer
Has been 30 minutes?
Yes
No
30 minutes have passed to check if robot
is out of bounds
Get Home Position
Yes
No
Robotic Platform
Boards: Master and Slaves• BeagleBoard:
• Sensor Board:
Navigation Algorithm
AligningRobot To
Destination
[Destination Specified]/Turn Robot
MovingForwards
[No Destination Specified]/Start Platform Moving Forward
Robot Aligned/Start Platform Moving Forward
MotionHalted
DestinationReached/
Halt Motion
MotionHalted
Object Detected AtFront, F. Ground/
Halt ForwardMotion
Turning DDegrees
No ObjectDetected
At D = 30°(Left)/Turn D
Degrees
No ObjectDetectedAt D = -30°(Right)/Turn DDegrees
MovingForwards
No ObjectDetected At Front,Ground/StartForward Motion
Turning -DDegrees
No Object Detected At-D/Turn -D Degrees
[Destination Specified]Turning Complete/
Align Robot
Turning Complete/Start Forward Motion
ObjectDetected
At Front, F.Ground/Halt
ForwardMotion
Moving Backwards
[No Object Detected Back,B. Ground] Object Detected
Left, Front, Right/StartBackwards Motion
Object Detected At-D/Continue Motion
Object Detected Back, B. Ground/Halt Backwards Motion
Object DetectedAt Left, Right/
Continue Motion
No ObjectDetected
At D = 30°(Left)/Turn D
Degrees
No ObjectDetected
At D = -30°(Right)/Turn D
Degrees
WaitingIncrementing
WaitCounter
SendingAlert
Object DetectedAt Left, Front,
F. Ground, Right,Back, B. Ground/
Wait for 1 min
1 min Passed/IncrementCounter
[Counter Limit Reached]/Send Alert
Alert Sent/Check Sensors
[Counter LimitNot Reached]
/Check Sensors
[No DestinationSpecified] Turning
Complete/StartForward Motion
Turning D Degrees(D = Random)
[No Destination]Random TimerLimit Reached/
Turn D=RandomDegrees
TurningComplete/
Start Platform Moving Forward
Testing - Sonar
Testing - IR
What is Completed
• Sensors are mounted on robotic frame, and are collecting environmental information.
• Information is processed and stored on MSP430 registers.• BeagleBoard reads in information and evaluates it.• Maintains connection with Host Computer over Wifi.• Groundwork is set for collision detection.• Groundwork is set for plant care.
Future Work/Recommendations
• Full testing with software, including collision detection and plant care algorithms.
• Implementation of traits that give the robot more “personality.”
• Field testing with the robot placed in crowded situations.• Hand off to Software Applications team for further
implementation of software.
Lessons Learned
• Better communication between Locomotion and Navigation teams.
• Start early development in Senior Design I.• Carefully plan integration of all hardware into a reliable setup.