RFID Automated Navigation of a Mobile Platform
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Transcript of RFID Automated Navigation of a Mobile Platform
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RFID Automated Navigation of a Mobile Platform
Tommy Brant, Charles Harper, Patrick Smith, Eni Ofong, Caleb Howell
Georgia Institute of Technology
School of Electrical and Computer Engineering
October 27, 2008
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Project Overview
• The Mobile Platform (MP) is a robot-based system which uses an embedded system and RFID tags to communicate wirelessly with a remote GUI to navigate itself to a final destination
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Business Aspect
• Intended for use in warehouses as a subsystem of automated storage(AS) and retrieval systems(RS)
• Appeals to AS/RS developers for use in easily expandable retrieval systems
• Costs $41,600 includes the product and labor for the on-site setup of the network of checkpoints
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Project Goals• Wireless communication between the GUI and the robot
control systems• RFID tagged areas to identify the location of the robot• Motor control to travel on a point to point basis• Overall objective is for the MP to arrive at the user-
determined destination by following the shortest path through a network of RFID checkpoints
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RFID Automated MP
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Design Approach
• Program components separately to ensure the correct output
• Once desired outputs are achieved, attach hardware components together and modify code if needed for components to communicate properly
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RFID MP System
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System Logic
Is at RFID?
No
Yes
Transmit via ad-hoc
CPU decides direction for
robot
Gumstix Netpro-vx
Gumstix Verdex
Stop robot
Transmit via ad-hoc
Gumstix Netpro-vx
Turn robot in needed
direction
Robot Movement
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Determine Direction
Is at RFID?
No
Yes
Transmit via ad-hoc
CPU decides direction for
robot
Gumstix Netpro-vx
Gumstix Verdex
Stop robot
Transmit via ad-hoc
Gumstix Netpro-vx
Turn robot in needed
direction
Robot Movement
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Wireless Transmission
Is at RFID?
No
Yes
Transmit via ad-hoc
CPU decides direction for
robot
Gumstix Netpro-vx
Gumstix Verdex
Stop robot
Transmit via ad-hoc
Gumstix Netpro-vx
Turn robot in needed
direction
Robot Movement
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Network Card
Is at RFID?
No
Yes
Transmit via ad-hoc
CPU decides direction for
robot
Gumstix Netpro-vx
Gumstix Verdex
Stop robot
Transmit via ad-hoc
Gumstix Netpro-vx
Turn robot in needed
direction
Robot Movement
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Motherboard
Is at RFID?
No
Yes
Transmit via ad-hoc
CPU decides direction for
robot
Gumstix Netpro-vx
Gumstix Verdex
Stop robot
Transmit via ad-hoc
Gumstix Netpro-vx
Turn robot in needed
direction
Robot Movement
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Update Direction
Is at RFID?
No
Yes
Transmit via ad-hoc
CPU decides direction for
robot
Gumstix Netpro-vx
Gumstix Verdex
Stop robot
Transmit via ad-hoc
Gumstix Netpro-vx
Turn robot in needed
direction
Robot Movement
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Movement
Is at RFID?
No
Yes
Transmit via ad-hoc
CPU decides direction for
robot
Gumstix Netpro-vx
Gumstix Verdex
Stop robot
Transmit via ad-hoc
Gumstix Netpro-vx
Turn robot in needed
direction
Robot Movement
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RFID Search Loop
Is at RFID?
No
Yes
Transmit via ad-hoc
CPU decides direction for
robot
Gumstix Netpro-vx
Gumstix Netpro-vx
Stop robot
Transmit via ad-hoc
Gumstix Netpro-vx
Turn robot in needed
direction
Robot Movement
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Checkpoint
Is at RFID?
No
Yes
Transmit via ad-hoc
CPU decides direction for
robot
Gumstix Netpro-vx
Gumstix Netpro-vx
Stop robot
Transmit via ad-hoc
Gumstix Netpro-vx
Turn robot in needed
direction
Robot Movement
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Back To Network Card
Is at RFID?
No
Yes
Transmit via ad-hoc
CPU decides direction for
robot
Gumstix Netpro-vx
Gumstix Netpro-vx
Stop robot
Transmit via ad-hoc
Gumstix Netpro-vx
Turn robot in needed
direction
Robot Movement
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Return Info.
Is at RFID?
No
Yes
Transmit via ad-hoc
CPU decides direction for
robot
Gumstix Netpro-vx
Gumstix Verdex
Stop robot
Transmit via ad-hoc
Gumstix Netpro-vx
Turn robot in needed
direction
Robot Movement
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Wait for Next Action
Is at RFID?
No
Yes
Transmit via ad-hoc
CPU decides direction for
robot
Gumstix Netpro-vx
Gumstix Verdex
Stop robot
Transmit via ad-hoc
Gumstix Netpro-vx
Turn robot in needed
direction
Robot Movement
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Automation Demonstration Example
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Map With RFID Checkpoints
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Graphical User Interface
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Choose Starting Position
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Starting Position
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Choose Final Destination
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Plot of the Path
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Start
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Forward Movement 1
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Checkpoint 1
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Forward Movement 2
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Checkpoint 2
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Turn Right
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Continue on Path
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Forward Movement 3
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Checkpoint 3
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Forward Movement 4
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Arrival at Final Destination
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End Movement
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MP Capabilities With Additional Technology
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Current and Potential Problems
• Current– Due to the delay in receiving parts, we are slightly
behind schedule
• Potential– Proper communication between different hardware
components– Centering the mobile platform over the tag for changing
direction– Developing algorithms for shortest path– Power supply to the robot components– Heat dissipation from the Gumstix modules.
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Project Schedule After Today
Task Duration Start Date End Date Milestone?Assigned Member
Troubleshoot Comm Path 5 days 26-Oct 31-Oct N SMITH/HOWELL/HARPER, then
GROUPTroubleshoot Effi ciency
Algorithm5 days 1-Nov 6-Nov N SMITH, then
GROUPTroubleshoot Robot
Movement/Speed/Heading5 days 7-Nov 12-Nov N BRANT/OFONG,
then GROUPTroubleshoot RFID Readings 5 days 13-Nov 18-Nov N HARPER, then
GROUPRe-integrate/Test 5 days 19-Nov 24-Nov Y GROUP
Prepare Final Demo/Presentation
5 days 25-Nov 30-Nov Y GROUP
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Cost Analysis
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RFID Cartographer’s Status
• All the group members have their hardware components yielding the expected output
• We are starting to meet together to test and troubleshoot communication between components