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MART Robotic Team, http://mart.matfyz.cz, andrej.mikulik@gmail.com
Introduction
- MART Robotic Team
- Design of robot Logion
Logion - Logion - A Robot Which A Robot Which Collects Rocks - - PowerPoint PPT Presentation
Logion - Logion - A Robot Which A Robot Which Collects Rocks - - PowerPoint PPT Presentation
Logion - Logion - A Robot Which A Robot Which Collects Rocks Collects Rocks Andrej Mikulk, Andrej Mikulk, Stanislav Stanislav Basovnik, Martin Dekar, Pavol Basovnik, Martin Dekar, Pavol Jusko, David Obdrzalek, Radim Pechal, Jusko,
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MART Robotic Team, http://mart.matfyz.cz, andrej.mikulik@gmail.com
Agenda
- Design overview
- Software design and algorithms
- Brain
- Localization
- Moving
- Opponent avoidance
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MART Robotic Team, http://mart.matfyz.cz, andrej.mikulik@gmail.com
Design overview
- PC Motherboard
- Hardware modules (MCU with sensors and
actuator drivers)
- infrared + ultrasonic localization
- Power source: Sealed Pb
accumulators
- Motors with integrated gearbox 50:1 +
encoders (6000 steps per wheel revolution)
- max speed ~ 0.7
m/s
- compass
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MART Robotic Team, http://mart.matfyz.cz, andrej.mikulik@gmail.com
Logion
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MART Robotic Team, http://mart.matfyz.cz, andrej.mikulik@gmail.com
Software design
- Universal robot
- Layered, object oriented design
- Hardware abstraction
- Software-hardware mapping
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MART Robotic Team, http://mart.matfyz.cz, andrej.mikulik@gmail.com
Other inputs (camera, user) Output to screen Group Brain
- Objectives
- Decisions
- Driving and
guiding the robot ...
...
Other modules
Group RangeFinder
- Moving average
- Value correction
Group Driver
- Motors
- LEDs
... Group Localizer
- Encoders
- Compass
- Calculate
position ...
...
Other modules
Group RangeFinder
- Request and
read distance Group Compass
- Heading
Group MotorLeft
- Motor 1
- Encoder 1
- Bumper 1
Group MotorRight
- Motor 2
- Encoder 2
- Bumper 2
Scheduler Files created by Linux Kernel modules for I2C devices
Device 1 Device 2
...
Device N
USB to I2C
Individual I2C modules
... 1 2 N
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MART Robotic Team, http://mart.matfyz.cz, andrej.mikulik@gmail.com
Smart layer: Brain
- State automat
- Thread based
workers
- State aware
triggers
Ready to start [Plug start cable] [Unplug start cable] [Homologation] [Test square run] [Test systems] [Operation Mars] Test all systems Run in square trajectory [Got 1+ sample] [Homologation] [Operation Mars] Go to dispensor [Got nothing] Collect samples Do field harvest Go to conainer Unload samples Extract samples
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MART Robotic Team, http://mart.matfyz.cz, andrej.mikulik@gmail.com
Smart layer: Brain
- State automat
- Thread based
workers
- State aware
triggers
Ready to start [Plug start cable] [Unplug start cable] [Homologation] [Test square run] [Test systems] [Operation Mars] Test all systems Run in square trajectory [Got 1+ sample] [Homologation] [Operation Mars] Go to dispensor [Got nothing] Collect samples Do field harvest Go to conainer Unload samples Extract samples
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MART Robotic Team, http://mart.matfyz.cz, andrej.mikulik@gmail.com
Localization
- Monte-Carlo
- Odometry
- Compass
- Beacons
- Reliability (encoded
signal)
- Accuracy (5 cm)
- Opponent detection
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MART Robotic Team, http://mart.matfyz.cz, andrej.mikulik@gmail.com
Localization
Robot view Idea
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MART Robotic Team, http://mart.matfyz.cz, andrej.mikulik@gmail.com
Moving
- Ideas:
- continuous smooth curves
- adaptable for moving obstacles
- Solution:
- Hermite
curves
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MART Robotic Team, http://mart.matfyz.cz, andrej.mikulik@gmail.com
Opponent avoidance
- Opponent detection
- Decision making
- Route planning
- Adding checkpoint
- Dynamic adjusting
- Removing checkpoint
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Thank you for your time Questions? Thank you for your time Questions?
Andrej Mikulík, Stanislav Basovnik, Martin Dekar, Pavol Jusko, David Obdrzalek, Radim Pechal, Tomas Petrusek, Roman Pitak
Charles University, Prague
Andrej Mikulík, Stanislav Basovnik, Martin Dekar, Pavol Jusko, David Obdrzalek, Radim Pechal, Tomas Petrusek, Roman Pitak