DO NOT FEED THE ROBOT

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DO NOT FEED THE ROBOT
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The Autonomous Interactive Multimedia
Droid (GuideBot) Bradley University Department
of Electrical and Computer Engineering EE-452 Dan
Leach and John Hathway Advisor Aleksander
Malinowski April 19th, 2005
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Outline

• Title/Introduction
• Project Overview
• Previous Work
• Project Description
• Flash interface
• Modes of operation
• Implementation
• Remaining Work
• Questions

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Overview
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Pioneer 2 Features

• Guidebot uses Saphira and PAI software supplied
  by Activmedia for control of movement and other
  functions
• Eight sonar transducers positioned around the
  front of Guidebot
• PAI software controls all movement, rotational
  and translational, along with taking in sonar
  data
• Onboard heading information allowing for precise
  turning
• Onboard distance taken from wheel encoders

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System Block Diagram
Sensor Data
User Input Via Touch Screen
Pioneer Robotic Platform
PC
Movement of Platform
Mapping Data
Display Output
Audio Output
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System Block Diagram
Sensor Data
User Input Via Touch Screen
Pioneer Robotic Platform
PC
Movement of Platform
Mapping Data
Display Output
Audio Output
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System Block Diagram
Sensor Data
User Input Via Touch Screen
Pioneer Robotic Platform
PC
Movement of Platform
Mapping Data
Display Output
Audio Output
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Previous Work Java-based Manual Web Control
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Graphical User Interface
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Graphical User Interface
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Graphical User Interface
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Graphical User Interface
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Graphical User Interface
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Modes Of Operation

• Idle/Assistance Mode
• Guide Mode
• Patrol Mode

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Waypoint Detection

• Doorframes, open hallways, wall drop offs
• Waypoint checked every 300 ms using one sonar
  transducer
• Waypoints are only checked for when Guidebot is
  within a predefined range of the waypoint
• Offices and other sites that are considered
  waypoints that have no distinguishable features
  will be found using the nearest waypoints and the
  distance Guidebot has traveled
• Most doorframes have a 9cm drop off between the
  wall and door which is large enough to check with
  the sonar transducers

9 cm
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Waypoints
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Waypoint Detection
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Drift Correction

• Guidebot is designed to follow a straight path to
  its destination
• Problems with drift have been observed and a
  method for correction has been devised using
  trigonometry

-2T
Y
T
X
Y
Wall
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Drift Correction
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Collision Avoidance
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Remaining Work

• Implement waypoint path / hallway crossing
• Interface interaction / motion sensing

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Questions?