Transcript Magellan Software Sp..

Magellan Software Specification
Software Design Options For
Semi-Autonomous Mine Mapping
Robot
The Basic Idea
 Two (possibly three)
systems
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Command Station (CS)
Docking Station (DS)
Robot
The Basic Idea
 Robot is lowered and
deployed into mine
 Robot moves
teleoperated (line of
sight with DS)
 Robot moves
autonomously when
communication is
broken
The Basic Idea
 Robot will return to
locations of peak signal
to relay data when
switching back to
teleop
 Return to DS
 Data processing done
at CS
Categorical Decomposition of
Software
 Mapping and Localization
 Teleoperation
 Autonomy
*Motor control software, communication software, etc. are
sub-categories of these primary themes
Mapping and Localization
 Data Acquisition (sensor dependent)
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Sensor Interfacing
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drivers, ports, protocols
Heterogeneous Sensor Integration
 Data Analysis
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Filtering
Map Generation
Robot Motion Planning (Localization)
Teleoperation
 User Interface
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Graphical Interface
Modes and means of interaction
 Contextual Transfer
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Sensor Interpretation
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issues of power consumption, bandwidth, etc
 Communication Protocol
 Level of Control
Autonomous
 Autonomous objectives (obstacles,
deployment)
 Failure Modes
 Path planning algorithm
 Switching to/from Autonomous mode
Specifications
 Mapping Software:
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Sebastian’s SLAM techniques if aided
Occupancy Grid techniques
 Autonomous Navigation:
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D*
Wall following / Wall centering
Specifications
 Teleoperation
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Point-and-click
 Communciation
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Wireless to DS. Raw data is buffered to DS then
to CS while in teleop. Data is held while
autonomous until strong signal is detected.
Storage capacity issue.
Ideas or Arguments
 Camera?
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Advantages
Improve Teleop
 Get over obstacles
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Disadvantages
Need Lights… major power
 Consume processing and bandwidth
 Offers nothing directly to mapping
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More Ideas… Closer to Design
 OS: Linux or Windows
 Off-board computing from CS
 Obstacle scaling
 Any others?