Logion - Logion - A Robot Which A Robot Which Collects Rocks Collects Rocks Andrej Mikulík, Andrej Mikulík, Stanislav Stanislav Basovnik, Martin Dekar, Pavol Basovnik, Martin Dekar, Pavol Jusko, David Obdrzalek, Radim Pechal, Jusko, David Obdrzalek, Radim Pechal, Tomas Petrusek, Roman Pitak Tomas Petrusek, Roman Pitak Charles University, Prague Charles University, Prague
Introduction • MART Robotic Team • Design of robot Logion MART Robotic Team, http://mart.matfyz.cz, andrej.mikulik@gmail.com
Agenda • Design overview • Software design and algorithms • Brain • Localization • Moving • Opponent avoidance MART Robotic Team, http://mart.matfyz.cz, andrej.mikulik@gmail.com
Design overview • PC Motherboard • Hardware modules (MCU with sensors and actuator drivers) • infrared + ultrasonic localization • Power source: Sealed Pb accumulators • Motors with integrated gearbox 50:1 + encoders (6000 steps per wheel revolution) • max speed ~ 0.7 m/s • compass MART Robotic Team, http://mart.matfyz.cz, andrej.mikulik@gmail.com
Logion MART Robotic Team, http://mart.matfyz.cz, andrej.mikulik@gmail.com
Software design • Universal robot • Layered, object oriented design • Hardware abstraction • Software-hardware mapping MART Robotic Team, http://mart.matfyz.cz, andrej.mikulik@gmail.com
Group Brain Other inputs (camera, user) - Objectives - Decisions - Driving and guiding the Output to screen robot ... Driver Group Localizer Group Group RangeFinder Other modules ... - Encoders - Motors - Moving average - Compass - LEDs - Value correction - Calculate ... position ... MotorLeft Group MotorRight Group Compass Group RangeFinder Group Other modules ... - Motor 1 - Motor 2 - Heading - Request and - Encoder 1 - Encoder 2 read distance - Bumper 1 - Bumper 2 Scheduler ... Device 1 Device 2 Device N Files created by Linux Kernel modules for I 2 C devices USB to I 2 C 1 2 ... N Individual I 2 C modules MART Robotic Team, http://mart.matfyz.cz, andrej.mikulik@gmail.com
Smart layer: Brain • State automat [Plug start cable] • Thread based [Unplug start cable] [Test square run] Ready to start Run in square trajectory [Test systems] workers [Homologation] [Operation Mars] Test all systems • State aware Go to dispensor Extract samples Do field harvest triggers [Got 1+ sample] Go to conainer [Got nothing] Unload samples Collect samples [Operation Mars] [Homologation] MART Robotic Team, http://mart.matfyz.cz, andrej.mikulik@gmail.com
Smart layer: Brain • State automat [Plug start cable] • Thread based [Unplug start cable] [Test square run] Ready to start Run in square trajectory [Test systems] workers [Homologation] [Operation Mars] Test all systems • State aware Go to dispensor Extract samples Do field harvest triggers [Got 1+ sample] Go to conainer [Got nothing] Unload samples Collect samples [Operation Mars] [Homologation] MART Robotic Team, http://mart.matfyz.cz, andrej.mikulik@gmail.com
Localization • Monte-Carlo • Odometry • Compass • Beacons • Reliability (encoded signal) • Accuracy (5 cm) • Opponent detection MART Robotic Team, http://mart.matfyz.cz, andrej.mikulik@gmail.com
Localization Robot view Idea MART Robotic Team, http://mart.matfyz.cz, andrej.mikulik@gmail.com
Moving Ideas: • continuous smooth curves • adaptable for moving obstacles • Solution: • Hermite curves • MART Robotic Team, http://mart.matfyz.cz, andrej.mikulik@gmail.com
Opponent avoidance • Opponent detection • Decision making • Route planning • Adding checkpoint • Dynamic adjusting • Removing checkpoint MART Robotic Team, http://mart.matfyz.cz, andrej.mikulik@gmail.com
Thank you for your time Thank you for your time Questions? Questions? Andrej Mikulík, Andrej Mikulík, Stanislav Basovnik, Martin Dekar, Pavol Jusko, David Obdrzalek, Stanislav Basovnik, Martin Dekar, Pavol Jusko, David Obdrzalek, Radim Radim Pechal, Tomas Petrusek, Roman Pitak Pechal, Tomas Petrusek, Roman Pitak Charles University, Prague Charles University, Prague http://mart.matfyz.cz, andrej.mikulik@gmail.com http://mart.matfyz.cz, andrej.mikulik@gmail.com
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