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Robotic Guidance

Robotic Guidance. Joe Stawicki. Project Description. Teach a robot to guide a person to a predefined destination. The robot must use a cam and a vision algorithm(s) as the main guidance. Sensors such as bump, infra-red and ultra-sound could provide direction and safety for the robot.

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Robotic Guidance

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  1. Robotic Guidance Joe Stawicki

  2. Project Description • Teach a robot to guide a person to a predefined destination. • The robot must use a cam and a vision algorithm(s) as the main guidance. • Sensors such as bump, infra-red and ultra-sound could provide direction and safety for the robot. • The solution should be easily modified for alternative routes. • Check out Alexander Popov’s 2011 senior project for techniques about driving the robot.

  3. MY Solution • Turtlebot • Kinect Sensor/Gyroscope • ROS (Robot Operating System) • Moves the robot • Gathers data • Kinect Sensor • Gyroscope • Calculates the next position • User Interface • SLAM (Simultaneous Localization and Mapping)

  4. Kinect Sensor • Variety of Sensors • 3D depth sensors • Laser • RGB camera • Array of Microphones

  5. SLAM • Simultaneous Localization and Mapping • Build map of unknown environment • Uses Sensors • Keeps track of current location • Based on what it sees/has seen • Navigate to a particular spot on the map

  6. Problems • Network Issues (SNC Firewall) • Using ROS (Open Source) • Weight Balance Issues

  7. MORE WORK… • Calibration of the gyroscope

  8. Methodology • Moving the Robot using Sasha’s project • Assembling the Turtlebot • ROS Installation • ROS Tutorials • Teleop/Navigation • Adaptation to new environments • Documentation

  9. DEMO

  10. Resources • Sasha Popov • Professors • Dr. Pankratz and Dr. McVey • Classmates • ROS.org • Many tutorials/how-to’s/answers • Other online resources • Trial and Error

  11. Knowledge • Programming Languages (CS 322) • Turtlebot software written in Python • Analysis of Algorithms (CS 321) • Navigation • Operating Systems (CS 370) • Linux and ROS • All Classes

  12. Extensions • Voice Activation • Other Turtlebot Applications • Object Avoidance • Mobile Device Operation • Turtlebot Arm

  13. Advice for upcoming seniors • Start early • Do little bits • Weekly meetings are very helpful • Document as you go • When stuck, ask for help • Enjoy it!!

  14. Questions???

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