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RISCBOT: Mobile Robots Exploration And Mapping In 2D

RISCBOT: Mobile Robots Exploration And Mapping In 2D. Sithisone Kalaya , Hussain A. Alhazmi , Advisor: Prof. Tarek Sobh Robotics, Intelligent Sensing & Control (RISC) Lab. School of Engineering, University of Bridgeport. INTRODUCTION. ‘Robot’.

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RISCBOT: Mobile Robots Exploration And Mapping In 2D

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  1. RISCBOT: Mobile Robots Exploration And Mapping In 2D SithisoneKalaya, Hussain A. Alhazmi, Advisor: Prof. TarekSobh Robotics, Intelligent Sensing & Control (RISC) Lab. School of Engineering, University of Bridgeport.

  2. INTRODUCTION ‘Robot’ 1920 satirical play called RUR (Rossum's Universal Robots) Czech word, ‘Robota’, (pronounced "chop'ek"), meaning compulsory labor or slave The plot was simple: A man makes a robot, then the robot kills the man! KarelČapek

  3. Robot– According to The Robot Institute of America (1979) a robot is “a reprogrammable, multifunctional manipulator designed to move materials, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks." Robotics – The science dealing with the design, construction and operation of robots

  4. Inspirations from a course in Robotics Transformations Inverse kinematics Trajectory generation Jacobians Kinematics Robot control

  5. Ideas and Motivation • Build small mobile robots to work with a host computer. • They must be able to: • Explore any unknown environment • Avoiding object • Communication with a host computer • Gathering information in its environment • Build a map from data collected.

  6. Building the Mobile Robots We constructed two mobile base on DFRobotShop Rover V2-Arduino. The robot was fitted with an Ultrasonic Range Finders. Bluetooth/XBee communication device We used ARDUINO API software to control the robot.

  7. Our Mobile Robots

  8. METHODOLOGY Obstacle avoidance Robot can see Through an Ultrasonic sensor Constructed a map Communication with a host PC The system consist of three main functionalities: Navigation such as obstacle avoidance and boundary tracing. Communication and data transmission. Map construction.

  9. IMPELEMENTATION

  10. FUTURE WORK Future additional enhancements to maximize their capabilities includes implementing EKF-SLAM algorithm for real time map. Simultaneous Localization and Mapping (SLAM) , Extended Kalman Filter (EKF) Web enable to allow multiple users to access data from different locations Implementing laser scanner for more accurate measurements Implementing camera for viewing of live video

  11. Thank youQuestions/answers

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