Transcript robotic_guidance_presentation

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.
 The solution should be easily modified for alternative
routes.
 Check out Alexander Popov’s 2011 senior project for
techniques about driving the robot.
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)
KINECT SENSOR
Variety of Sensors
3D depth sensors
Laser
RGB camera
Array of Microphones
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
PROBLEMS
Network Issues (SNC Firewall)
Using ROS (Open Source)
Weight Balance Issues
MORE WORK…
Calibration of the gyroscope
METHODOLOGY
 Moving the Robot using Sasha’s project
 Assembling the Turtlebot
 ROS Installation
 ROS Tutorials
 Teleop/Navigation
 Adaptation to new environments
 Documentation
DEMO
RESOURCES
Sasha Popov
Professors
 Dr. Pankratz and Dr. McVey
Classmates
ROS.org
 Many tutorials/how-to’s/answers
Other online resources
Trial and Error
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
EXTENSIONS
Voice Activation
Other Turtlebot Applications
Object Avoidance
Mobile Device Operation
Turtlebot Arm
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!!
QUESTIONS???