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Test Slide

Test Slide. Text works. Graphics work. Self-Mapping Mobile Robot. Senior Capstone Project Proposal Department of Electrical and Computer Engineering Bradley University Advisor: Dr. A.Malinowski Presented by Stephanie Luft 06 December 2005. Presentation Outline. Project Overview

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Test Slide

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  1. Test Slide • Text works. • Graphics work.

  2. Self-MappingMobile Robot Senior Capstone Project Proposal Department of Electrical and Computer Engineering Bradley University Advisor: Dr. A.Malinowski Presented by Stephanie Luft 06 December 2005

  3. Presentation Outline • Project Overview • Review of Previous Work • System Block Diagram • Software Functionality • Equipment • Schedule • Questions

  4. Presentation Outline • Project Overview • Review of Previous Work • System Block Diagram • Software Functionality • Equipment • Schedule • Questions

  5. Project Overview • Objective: To develop a robot that will • Map an area of its environment • Locate itself within the map • Orient itself within the environment

  6. Presentation Outline • Project Overview • Review of Previous Work • System Block Diagram • Software Functionality • Equipment • Schedule • Questions

  7. Review of Previous Work • GuideBot Capstone Project 2005 • John Hathway and Daniel Leach • Thesis: “Concurrent Map Building and Self-Localization for Mobile Robot Navigation” • Thomas Duckett, Manchester, United Kingdom • University of Illinois Mechatronics Lab Projects • http://coecsl.ece.uiuc.edu/ge423/spring04/group7/group7.html • http://coecsl.ece.uiuc.edu/ge423/spring03/Group7/index.html#_Toc40283479

  8. Presentation Outline • Project Overview • Review of Previous Work • System Block Diagram • Software Functionality • Equipment • Schedule • Questions

  9. System Block Diagram

  10. System Block Diagram

  11. System Block Diagram

  12. System Block Diagram

  13. Presentation Outline • Project Overview • Review of Previous Work • System Block Diagram • Software Functionality • Equipment • Schedule • Questions

  14. Software Functionality • Functional Modes: • Mapping • Maneuvering • Immediate Response • C++/MATLAB

  15. Software: Mapping Mode • Plot environment and locate robot • Distance sensing • Immediate response • Data transmission • Plotting – obstacles and robot location • Self-locating • Previous map identification • Navigation and maneuvering

  16. Software: Maneuvering Mode • Allow user to control robot • User interface • Data transmission • Immediate response • Navigation and maneuvering • Distance sensing • Self-locating • Plotting – robot location only

  17. Software Functionality: Mapping and Maneuvering

  18. Software Functionality: Immediate Response

  19. Presentation Outline • Project Overview • Review of Previous Work • System Block Diagram • Software Functionality • Equipment • Schedule • Questions

  20. Equipment • ActiveMedia Pioneer 2 mobile robotic platform • Laptop computer with wireless connection • Digital compass • Remote PC with network connection • Laser distance meter • Pan-tilt unit • Appropriate connectors for all equipment • MATLAB, Visual Studio, and/or another type of software development system.

  21. Equipment: Distance Meter Selection • Considerations: • Cost • Accuracy • Measurable distance: a 0.2 to 10 meter range • Safety • Weight • Computer interface • Availability • TLM 100 feasibility investigation

  22. Presentation Outline • Project Overview • Review of Previous Work • System Block Diagram • Software Functionality • Equipment • Schedule • Questions

  23. Schedule

  24. Self-Mapping Mobile Robot Senior Capstone Project Proposal Department of Electrical and Computer Engineering Bradley University Advisor: Dr. A.Malinowski Presented by Stephanie Luft 06 December 2005 Questions?sluft@bradley.edu

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