ICII ROBOTS ICII ROBOTS Ing. Frantiek Ducho Ing. Marian Kik - PowerPoint PPT Presentation

Institute of Control and Industrial Informatics Faculty of Electrical Engineering and Information T echnology Slovak University of T echnology ICII ROBOTS ICII ROBOTS Ing. František Duchoň Ing. Marian Kľúčik

Contents Contents  Importance of mobile robotics  Indoor mobile robot  Outdoor mobile robot 2

Importance of mobile robotics Importance of mobile robotics Mobile robots are used in: 1. harmful and dangerous environments 2. environment exploration 3. transportation tasks 4. property and people rescue 5. service robotics 6. space robotics 3

Indoor mobile robot (IMR) (IMR) Indoor mobile robot 4

Hardware of Indoor mobile Hardware of Indoor mobile robot robot 5

Sensors of Indoor mobile robot Sensors of Indoor mobile robot 1. 9 x Ultrasonic sensor MrRobot MUSTA 8-12V 2. 9 x Infra sensor 3. 1 x camera head 4. 1 x Ultrasonic Rangefinder 6

Sensors decomposition (IMR) Sensors decomposition (IMR) 7

Accumulator packs (IMR) Accumulator packs (IMR)  20 NiMH Saft VH F 15Ah/1,2 cells (whole packet: 24V/15Ah) 8

Stability for Indoor mobile robot Stability for Indoor mobile robot 9

Kinematics scheme of IMR Kinematics scheme of IMR 10

Processes (IMR) Processes (IMR) 11

Goals with IMR  Indoor mapping  Reactive navigation  Object recognition  People  Furniture  Other robots  Goal objects 12

Local metric map (IMR) Local metric map (IMR) Ultrasonic sensor model (IMR) Ultrasonic sensor model (IMR) 13

Ultrasonic sensor model (IMR) Ultrasonic sensor model (IMR) 14

Reactive navigation (IMR) Reactive navigation (IMR) 15

Future? (IMR) Future? (IMR) 16 16

Outdoor mobile robot (OMR) Outdoor mobile robot (OMR) 17

Hardware of Outdoor mobile Hardware of Outdoor mobile robot robot Drive system - two GDM100N2, differential drive - maximal velocity is 0,9 m/s - drive with 2 speeds - harmonic drive Control system - basic control system hardware is industrial computer PC-UNO-2059 working with frequency 400MHz, with operating system Linux Debian, 1 GB RAM, RS232, RS422 - main control system hardware: • small PC VIA EPIA PD15000, operating system Linux Debian or • PC with Core 2 Duo,1GB 800 MHz RAM, with TVcard also with Linux Debian 18

Sensors of Outdoor mobile Sensors of Outdoor mobile robot robot 1. 1 x Compass CMPS03 2. 1 x GPS Garmin 18-5Hz 3. Analog Devices: Gyroscopes/Accelerometer/Inclinometer 4. 1 x Laser Scanner HOKUYO URG-04LX 5. 6 x Ultrasonic Range Finder MaxSonar EZ1 6. 2 x Ultrasonic Range Finder Devantech SFR 08 7. 1 x Camera Head 19 19

Accumulator packs (OMR) Accumulator packs (OMR) 1. Two interchangable packs 2. One pack has 22 1,2V cells 3. General capacity of one pack is 15 Ah 4. With one pack at velocity 0,5 m/s can the robot travel to distance 2km 20

Laser scanner with camera view Laser scanner with camera view (OMR) (OMR) 21

Goals with OMR Goals with OMR • Autonomous movement in park like environment • Object detection • Object recognition • Path recognition • Obstacle avoiding • Performing autonomous tasks with arm 22

Models of robots – Adams, MRS Models of robots – Adams, MRS 24 23

Thank you for attention! Thank you for attention! 25 24