UTP-LE2I_Mobile Robot Navigation System

8/10/2019 UTP-LE2I_Mobile Robot Navigation System

1/38

by

Mohammad

Najib

Bin Abdul

Rahim

, 8649

MA

Y 2010


2/38

1.0 Company Background

2.0 Project Background

3.0 Literature Review

4.0 Methodology5.0 Result and Discussion (up-to-date)

6.0 Future Works

7.0 Additional Work & Activities

8.0 Lessons Learned

9.0 Conclusion & Summary


3/38


4/38

LE2I, Laboratoire Electronique, Informatique et Image

oAssoc: CNRS,

IUT Le Creusot (host), UB

o3 Research Teams:

Informatique, Signal et

Imagerie medicale, Image

& Vision


5/38


6/38

2.1 Problem Statement


7/38

The purpose of this project is to develop an autonomous navigation system for a

mobile robot to assist mobility of the physically disabled in a known environment such as

in a building.

For those with physical disabilities, personal mobility is a challenge for them

especially when moving around in a new environment (i.e building). However, the need is

inevitable in places like hospital and government agencies.

By having a mobile robot equipped with autonomous navigation system, it

provides mobility assistance for the disabled to reach specific destination in a building

from the computation of path planning and motion control algorithms. The embedded

artificial intelligence enables the mobile robot to function as a movingGPS to usher

direction to required destination.

2.1 Problem Statement


8/38


9/38

2.3 Scope

Develop Graphical User Interface (GUI) software

Implement global path planning algorithms

Implement motion control algorithm


10/38


11/38

1) Stephen J. Tobias and A. Antonio Arroyo, 2000. Autonomous Pathfinding,

University of Florida, USA, 2000 Florida Conference on Recent Advances in Robotics

This paper discusses pathfinding approach using sensors for the robot to learn and

adapt to the environment at a fraction of computing power

Advantages: Low-cost sensors, requires no global

positioning information (except at start & end)

Disadvantages: Takes time, accumulated errors, not

portable information (parameters in algorithm)


12/38


13/38

Mohd Yamani Idna Idris, Norzaily Mohamed Nor, Zaidi Razak, Md Nor Ridzuan Daud,

ParkingSystem Using Chain Code & A Star Algorithm, Malaysia, Universiti Malaya.

This paper takes the reader to another application of image processing, chain code

& A star implementations

System Overview: Image recognition detects empty

space comparing histogram of floor and object,

character on the floor is recognized using Chain Code,

then, A star generates the shortest route

Results: Preliminary research has shown the

implementation of image processing & robotics

navigation


14/38


15/38


16/38

-Progress until 10 May 2010-


17/38

General Features:

Service environment: Known environment (i.e In a building)

General operation: Upload map -> Set start point -> Set destination -> Run

Programming Language: Visual C++

Input devices:Collision protection sensor

9 infrared distance sensors

Analogue inductive sensor

2 optical sensors

Colour webcam with USB interface

3 wheel encoders

5.1 Product Design Specification (PDS)


18/38

Robotino


19/38

5.2 System Breakdown


20/38

5.2.1 Graphical User Interface (GUI)


21/38

Allows robot to move from Point A to Point B

Compute the shortest route

Development phase:

5.2.2 Path Planning Algorithm

Basic algorithm:

Adaptive algorithm:


22/38

(a) Wavefront algorithm:

1. Check node-by-node

2. Start from top left3. Ignore walls & count up with

respect to the minimum

bordering node


23/38

check node A at [0][0]

now look north, south, east, and west of this node (boundary nodes)

if(boundary node is a wall) ignore this node, go to next node B

else if(boundary node is robot location && has a number in it) path

found!

else if(boundary node has a goal) mark node A with the number 3

else if(boundary node is marked with a number) find the boundary

node with the smallest number mark node A with

(smallest number + 1)

if(no path found) go to next node B at [0][1] (sort through entire

matrix in order)

if(no path still found after full scan) go to node A at [0][0] (start over,

but do not clear map) (sort through entire matrix in

order) repeat until path found

if(no path still found && matrix is full) this means there is no solutionclear entire matrix of obstacles and start over this

accounts for moving objects! adaptivity!


24/38

(b) A* (A-star) algorithm:F = G + H

G = the movement cost (A to current point)

H = the estimated movement cost (current

point to B)


25/38

Simple Test:
http://d/MECHANICAL%20ENGINEERING/Internship/Internship%20Visit/Presentation/AstarRobotino.exe


26/38


27/38

6.1 A* (continuation)

Integration with Robotino API

Implementation and testing


28/38

6.2 Motion Control AlgorithmPID Control for Driving Straight

Each motor individual motor has its own PID controller, however due to

its differential drive configuration, synchronization of the motor speeds is

required.


29/38

6.3 RecommendationTrajectory smoothing

Localization

Motion control feedback:

ousing gyro sensor & compass

odummy wheels attached with encoders


30/38


31/38

(a) Additional Work:IR Tracking Program

Multi-threading Program

(b) Other Activities:I.U.T Open Day

Attended Computer Vision class


32/38


33/38

(a) Technical:Programming Skill: Visual C++ (MFCMicrosoft Foundation Class)

Robotics: Path planning, motion control

Multi-disciplinary skill set: Computer Science + Mechanical

(b) Non-technical:Personal development: goal-oriented, self-motivation

Research environment


34/38


35/38

Work-In-Progress:

o 1 solution implemented

o 1 solution to be implemented

o Refinement required

Objective - check

Gantt Chart - check

9.1 Conclusion


36/38

Introduction: Company & Project

Work-In-Progress:

o Literature Review

o Methodology

o Results & Discussion

Future Works

Additional Work & Activities

Lessons Learned

Conclusion

9.2 Summary


37/38


38/38

INTERNSHIP GANTT CHART

Action Plan January February March April May June

Definition of the Problem

Literature Reviews

Research for the Solution

Solution Development

Testing & Refinement

UTP-LE2I_Mobile Robot Navigation System

Documents

Transcript of UTP-LE2I_Mobile Robot Navigation System