Mobile Target Tracking Using Radio Sensor Network
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1 Mobile Target Tracking Using Radio Sensor Network Nic Auth Grant Hovey Advisor: Dr. Suruz Miah Department of Electrical and Computer Engineering Bradley University 1501 W. Bradley Avenue Peoria, IL, 61625, USA Tuesday, November 28, 2017 N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
2 Outline 1 Introduction 2 Background Study 3 Functional Requirements 4 Engineering Efforts 5 Parts List 6 ECE 499 Deliverables 7 Future Directions 8 Timeline and Milestones N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
3 Outline 1 Introduction 2 Background Study 3 Functional Requirements 4 Engineering Efforts 5 Parts List 6 ECE 499 Deliverables 7 Future Directions 8 Timeline and Milestones N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
4 Introduction Motivation Mobile robotics is a cutting edge field Mobile robotics is an interdisciplinary field Mobile robotics has many applications N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
5 Introduction Problem Description Suppose that a mobile target is moving randomly in an unknown environment. The position and trajectory of the mobile target are also unknown. A mobile robot is supposed to follow this mobile target while maintaining a set distance. Problem Statement Estimate position and orientation of the mobile robot Estimate position of the mobile target Estimate a map of the environment Find linear and angular velocities such that the robot will follow the target within a certain distance N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
6 Introduction Applications Warehouses Factories Search and rescue Research and education N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
7 Introduction Advantages Modular Low Cost Functions in low light conditions High degree of accuracy N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
8 Outline 1 Introduction 2 Background Study 3 Functional Requirements 4 Engineering Efforts 5 Parts List 6 ECE 499 Deliverables 7 Future Directions 8 Timeline and Milestones N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
9 Background Study Literature Radio signal strength to calculate range Parabolic reflector to estimate angle of arrival Simultaneous localization and mapping using RFID tags Tracking of radio signal emitting mobile target N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
10 Background Study Technology Applied Xbee Radio Network Pioneer 3-DX Robotics Operating System Beaglebone Black N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
11 Background Study Xbee Radio Network Zigbee Radio Protocol Star Network Topology Low Cost Easy to program N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
12 Background Study Pioneer 3-DX Purpose built for research 500 bit wheel encoders 8 on board sonar sensors ARIA framework N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
13 Background Study ROS Collection of robotics middleware Hardware abstraction Node based system TCP/IP based communication N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
14 Background Study BeagleBone Black 1 GHz Cortex A-8 ARM Processor UART interface Wifi Capable Low Cost N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
15 Background Study Prior Work Radio receiver and robot control hardware Radio sensor network EKF-SLAM Simulation and Implementation Parabolic dish. Xbee coordinator. Beaglebone black. Motor controller. (a) V-REP scene of last year s simulation. (b) Customized radio transceiver. Figure: Prior work. N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
16 Background Study Challenges Increase speed of wireless sensor signal acquisition Integrate LiDAR into existing system Improve overall accuracy of mapping, localization, and target tracking N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
17 Outline 1 Introduction 2 Background Study 3 Functional Requirements 4 Engineering Efforts 5 Parts List 6 ECE 499 Deliverables 7 Future Directions 8 Timeline and Milestones N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
18 Functional Requirements Specifications Total Cost of $500 or less. Localization of robots and beacons within 30 cm of true position. Tracking performance of moving target to within 30 cm. N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
19 Functional Requirements System Architecture (a) Pioneer P3-DX (b) Beaglebone Black (c) Xbee Beacon (d) Velodyne LiDAR Puck Figure: Main components of the project. N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
20 Functional Requirements System Level Block Diagram Mobile target's trajectory Mobile target tracking system Tracking performance Figure: System level block diagram N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
21 Functional Requirements Subsystem Level Block Diagram Mobile target trajectory + - Σ Tracking algorithm Mobile robot Tracking performance Sensory information Figure: Subsystem level block diagram N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
22 Functional Requirements EKF-SLAM Algorithm EKF: Extended Kalman Filter SLAM: Simultaneous Localization and Mapping Widely popular for resilience to noise. Three main steps: 1 Predict 2 Observe 3 Update N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
23 Functional Requirements EKF-SLAM Algorithm: Prediction Actual Pose: q = [x, y, θ] T Estimated Pose: q = [ x, ŷ, θ] T Predict State Covariance: P = (q T 1 q 1 ) 2, 0, 0 0, (q T 2 q 2 ) 2, 0 0, 0, (q T 3 q 3 ) 2 N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
24 Functional Requirements EKF-SLAM Algorithm: Observe Y t = [r t, θ t ] T N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
25 Functional Requirements EKF-SLAM Algorithm: Update P k+1 = q k+1 = [ q + ] k+1 b s+1 [ ] P + k+1 P T b (s+1) q P b (s+1) q P b (s+1) b (s+1) N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
26 Outline 1 Introduction 2 Background Study 3 Functional Requirements 4 Engineering Efforts 5 Parts List 6 ECE 499 Deliverables 7 Future Directions 8 Timeline and Milestones N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
27 Engineering Efforts Robot Model Discrete time model: x k+1 = x k + T ν k cos(θ k + γ k ), y k+1 = y k + T ν k sin(θ k + γ k ), θ k+1 = θ k + T ν k sin(γ k ) l N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
28 Engineering Efforts Simulation MATLAB V-REP Simulates robot kinematics and sensors. Easily adapted to ROS implementation. N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
29 Engineering Efforts Design Existing System BeagleBone Black Radio Receiver Sensor Network Adapt/improve existing hardware for target tracking. Incorporate Velodyne LiDAR. N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
30 Outline 1 Introduction 2 Background Study 3 Functional Requirements 4 Engineering Efforts 5 Parts List 6 ECE 499 Deliverables 7 Future Directions 8 Timeline and Milestones N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
31 Parts List Part Price Quantity XBee S2C w/ whip antenna $ XBee Interface Board $ Perforated Circuit Board $ Stepper Motor $ Motor Controller $ V Regulator $ V Battery Clip $ N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
32 Outline 1 Introduction 2 Background Study 3 Functional Requirements 4 Engineering Efforts 5 Parts List 6 ECE 499 Deliverables 7 Future Directions 8 Timeline and Milestones N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
33 Deliverables Experimental and Simulation Results Complete Documentation Final Presentation and Report N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
34 Outline 1 Introduction 2 Background Study 3 Functional Requirements 4 Engineering Efforts 5 Parts List 6 ECE 499 Deliverables 7 Future Directions 8 Timeline and Milestones N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
35 Future Directions Incorporate object avoidance using sonar and Braitenburg algorithm Improve existing EKF-SLAM implementation Incorporate Velodyne LiDAR N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
36 Outline 1 Introduction 2 Background Study 3 Functional Requirements 4 Engineering Efforts 5 Parts List 6 ECE 499 Deliverables 7 Future Directions 8 Timeline and Milestones N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
37 Timeline and Milestones XBee Communication Get XBee RSSI data from multiple beacons Improve Dish Speed Find faster motor 2018 Jan Feb Mar Apr May 0% 100% 100% 0% Testing and Debugging LiDAR Preparation Integrate LiDAR with existing system 0% 0% 0% Testing and debugging Integration and Test Integrate subsystems 0% 0% 0% Test and Debug System 0% Project Completion Work 0% N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
38 For Further Reading I F. Martinelli. A robot localization system combining rssi and phase shift in... IEEE Transactions on Control Systems Technology, vol.23, no. 5, pp E. DiGampaolo. A robot localization system using the phase of passive uhf-rfid... IEEE Transactions on Control Systems Technology, vol.61, no. 1, pp E. Xu. Target tracking and mobile sensor navigation in wireless sensor... IEEE Transactions on Mobile Computing, vol.12, no. 1, pp RevA.sflb.ash N. Auth,G. Hovey (Bradley University) Mobile Target Tracking Using Radio Sensor Network(Proposal) November 28, / 38
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