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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???