Software Framework for Teleoperated Vehicles

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Software Framework for Teleoperated Vehicles

• Team Eye-Create
• ECE 4007 L01
• Karishma Jiva
• Ali Benquassmi
• Safayet Ahmed
• Armaghan Mahmud
• Khin Lay Nwe

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Overview

• Software to control and communicate with TGVs
• Customizable software needed
• Customers with robotic vehicles
• 42,140 development cost of test platform

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Design Objectives

• Flexible modular software architecture
• Communication and control over wireless network
• Sensors and video feedback

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Overall System Description
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Overall System Description
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Open Interface

• Protocol to communicate with iRobot
• Commands made of opcode and
• parameters
• Protocol does not implement any
• hand shaking
• RS-232 Serial Interface

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Robot End Software
Executive Program
Communication Library
Controlled Robot API
TCP/IP
Motion Control
Sensors
Serial Communication
USB
TCP/IP
iRobot Create
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Robot End Software
GPS Receiver
Temperature Sensor
Sensors Layer
USB
Some Other Sensor
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Network Configuration of Test Platform
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Layered Structure of Communications
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Boundary Preserving Protocol

• TCP does not preserve message boundaries
• BPP provides message boundary abstraction

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Address Relay Protocol

• Problem
• - DHCP assigns client, server arbitrary
  addresses
• - Client needs server address to initiate
  communication

Solution - Third node with static address-
Node relays address between server, client
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Address Relay Protocol

Message formats Request single ascii character
r sent by client Server not registered4 bytes
representing address 255.255.255.255 Servers
IPV4 addressServers 4 byte IP address in
network byte order
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Remote Access Protocol

• Remotely access different robot functions e.g.
  wheel velocity
• Transfer sensor data back to the control interface

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Description of Video Transfer Protocol

• To be determined
• Should
• transfer video frames of sufficient quality
• minimize delay in transfer of frames
• preserve order of frames
• May use UDP to transmit frames

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Graphic User Interface (GUI)
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Graphic User Interface (GUI)
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Development Tools Environment

• Language C, C
• Compiler GCC, MS C compiler
• OS Windows CE, Linux
• Other Tools Qt library, MS Visual Studio

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Time Line
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Cost of Development of Test Platform
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Future Work

• Code higher layers in robot end software
• Complete coding communication library
• Complete GUI development at control interface
• Integrate all systems and test on LAWN

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Quote

• My work is a game, a very serious game.
• M. C. Escher (1898 - 1972)