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Designing an Autonomous Multimedia Droid for Navigation and Waypoint Management

This project showcases the development of an autonomous interactive multimedia droid, functioning as a mobile guide. Key features include navigating using waypoints, accessing waypoint data, and an intuitive interface for operation. The droid utilizes sonar transducers for detecting waypoints and correcting drift, ensuring accurate pathfinding. Future enhancements will involve a complete interface in Flash, mapping hallways, and improving collision avoidance. The presentation culminates in a Q&A session to discuss methodologies and upcoming work.

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Designing an Autonomous Multimedia Droid for Navigation and Waypoint Management

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Presentation Transcript

  1. DO NOT FEED THE ROBOT

  2. The Autonomous Interactive Multimedia Droid Bradley University Department of Electrical and Computer Engineering EE-452 Dan Leach and John Hathway Advisor: Aleksander Malinowski March 8th, 2004

  3. Outline • Overall Progress • Navigating • Finding Waypoints • Interface To Robot • Accessing Waypoint Data • Implementation • Upcoming Work • Questions

  4. Navigation

  5. Waypoints

  6. Graphical User Interface

  7. Accessing Waypoint Data //Index,Name,Floor,Lane,X,Y,Min Dist.,Max Dist.,Can Go Forward, //Can Go Backward,Crosses To,Is A Stop,Is A Patrol,Manual Commands 0,Origin,3,1,0,0,50,100,1,0,0,1,1,0; 1,B,3,1,0,0,50,100,1,0,0,1,1,0; 2,C,3,1,0,0,50,100,1,0,0,1,1,0;

  8. Waypoint Detection • Doorframes, open hallways, wall drop offs • Waypoint checked every 300 ms using one sonar transducer

  9. 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 -2Θ Y Θ X Y’ Wall

  10. Drift Correction

  11. Waypoint Patrol • The waypoint patrol code function was written to demonstrate Guidebot’s ability to keep track of its position and find waypoints. • Guidebot was programmed to patrol the hallway in a designated path which included crossing the hallway twice within each loop • Made three complete paths around the patrol loop before it was too far off track to find the proper waypoint.

  12. Upcoming Work • Implement entire interface in Flash • Map hallway and implement waypoint path • Collision avoidance / course correction • Interface interaction / motion sensing

  13. Questions?

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