1 Cartel: Cartography (mapmaking) + Intel (intelligence) Preliminary Design Review ECE4007 L01 – Senior Design – Fall 2007 School of Electrical and Computer Engineering Georgia Institute of Technology Project Advisor: Dr. Hamblen Autonomous Multi-robot Mapping System Brandon Chong - Team Leader David Esiobu Jonathan King Mark Nfodzo Christopher Pau - Webmaster

22 Autonomous Multi-Robot Mapping System Develop two prototypes of mapping robot Map urban warfare areas for U.S. Military Improve on expensive and complex military robots Design our system cheaper, specialized, and expandable Focus on cost, expandability, and autonomy

33 Design Objectives Lowering cost allows more systems Using cheaper parts, software over hardware Designing expandability increases accuracy and speed Allowing easy and fast addition of robots Designing autonomy reduces human element Coordinating between robots

44 Hardware Connection Diagram

55 Mounting Diagram Source: Microsoft

66 iRobot Create Source: iRobot.com Small wheeled profile Cargo bay for additional hardware Serial command interface Rechargeable battery

77 eBox Mhz Vortex86 System-On-Chip Fanless, compact design Ultra Low Power Wireless LAN, USB / Ethernet / RS-232 ports Source: EmbeddedPC.net

88 IR Sensor - GP2D12 Sharp GP2D12 IR Sensor Used to gather obstacle data Distances from 10 cm to 70 cm Analog Output Voltage from 0 to 2.5V Source: Phidgets.com

99 Ultrasonic Sonar Sensor 42kHz Ultrasonic sensor Used to determine robot movement Detects objects from 0 to 6.45 m Multiple Outputs Analog Output - 10mV/inc 2.5V-5.5V, < 3mA supply current Small, light weight module Source: LV MaxSonar EZ1 Datasheet

10 Compass Sensor Used to coordinate robot data Power - 5-volts 19 ma. Outputs - Dual analog channels Weight grams Size mm diameter, 16 mm tall Pins - 3 pins on 2 sides on.050 centers Temp - 20 to +85 degrees C Source : dinsmoresensors datasheet

11 Phidgets Interfacekit 8/8/8 Used to interface sensors to the eBox 8 Analog Input / 8 Digital Input / 8 Digital Output Output to USB (drivers provided for Win CE) Analog to Digital converter Source: Phidgets.com

12 Phidgets Servo Used to rotate IR sensor to make multiple readings HiTec HS-322HD Servo 0.19sec/60 degrees at 4.8V USB controller (drivers provided for Win CE) Source: Phidgets.com

13 Software Overview Operating System: Windows CE 6.0 Cartel Application: Microsoft Visual C# Development environment: Microsoft Visual Studio 2005 Source: Microsoft

14 Microsoft Visual C# Advantages Rapid software development (Managed Code).NET Platform compatibility Pre-built drivers and projects (Phidgets) Disadvantages Windows-only - no support on Linux (Mono =.NET alternative) Microsoft licensing fees.NET Code Performance Overhead (speed of sonar?)

15 Cartel Controller Cartel Controller Monitors and handles all requests Sensor Controller Sensor data and Servo controls Robot Controller iRobot commands Wireless Controller b/g Network Communications Intelligence Controller Generates movement operations Runs on startup Stores Initial position Map Data Starts deployment procedure

16 Robot Deployment Procedure

17 Robot Deployment Procedure (2) 1) Leader (Robot 1) is in initialization 2) Robot 2 gets position and starts exploration 3) Robot 3 gets position and starts exploration 4) No more robots after 3 minutes 5) Leader starts exploration

18 Implements UDP/IP Opens Socket for receiving data Opens Socket for sending data Sends Broadcast Packets Wireless Controller Source:

19 Sensor Controller Initialize interfaces to sensors and servo Process periodic readings from sonar sensors Take IR readings from a specified angle Generate events for Intelligence

20 Robot Controller Initialize and configure the Create Translate commands to the Create’s Open Interface Process periodic readings from robot sensors Generate events for Intelligence

21 Intelligence Controller Process events generated by other controllers Make decisions about motion based on gathered data Share findings with other robots at regular intervals

22 Intelligence Controller - Exploration Discretize the space Track the explored and occupied cells Avoid explored areas and probe occupied ones Sonar data will offer longer range, “soft” feedback IR readings will give hard numbers at closer range

23 Advantages/Disadvantages of Controller Design Divides work up Shortens development time Easily changeable for different robots Increases complexity

24 Mapping Software Receives UDP broadcast packets from the robots Plots unexplored area as grey squares Plots unoccupied area as white squares Plots occupied area as blue squares

25 Timeline

26 Future Work Finish interfacing sensors Finish Cartel Controllers Establish communications between robots Establish communications between robots and the Mapping Software Perform mapping test runs Debug problems encountered in test runs

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