Prof. Emil M. Petriu 17 January 2005 CEG 4392 Computer Systems Design Project (Winter 2005)

Transcription

1 Project title: Optical Path Tracking Mobile Robot with Object Picking Project number: 1 A mobile robot controlled by the Altera UP -2 board and/or the HC12 microprocessor will have to pick up and drop off objects placed on a guide-path. The robot will have to optically track the guide-path, while picking up and depositing objects along the way. The main objective is to allow the robotic platform to perform path-clearing upon the pre-determined guide-path. Sonar, IR, contact, sensors will be used to allow the robot to detect and correctly pick up the chosen objects and avoid other ones, while linetracking sensors will be used to allow the robot to optically maintain the guide-path. Contact sensors should be used for handling accidental collision situations. testing, of: (i) the control algorithms for guide-path tracking, object sensing, pick up and drop off, and accidental collision situations, (ii) the odometric (i.e. an incremental measurement of the traveled distance) sensor system allowing to recover the mobile robot s 2-D position, i.e. (the x,y) coordinates and orientation angle, and (iii) the sensor based 2-D map of the robot s actual trajectory while following the guidepath and picking up objects. Equipment provided: 2 wheel mobile robotic platform, optical line-tracking sensors for guidepath detection, IR or sonar sensor(s), (possibly) a CMU camera, contact sensors and the Altera UP-2 board/hc12 microcontroller and their respective development environments Project Code: OPR1 Project Code: OPR2

2 Project title: Maze Solving by a Wall Tracking Mobile Robot Project number: 2 A mobile robot controlled by the Altera UP-2 board and/or the HC12 microprocessor will have to traverse a maze-based map in order to get from one end to the other of the maze. The main objective is to utilize remotely-embedded knowledge to solve the task at hand. IR sensors should be used to locate the openings within the maze, while a wireless communications scheme should be utilized to communicate with the knowledge base residing on a remote PC. A lookup table may be initially used, but as the task gets more complicated, a knowledge base should be utilized. The autonomous mobile robotic platform will acquire and interpret the data, in accordance with the remotely-embedded knowledge, and can update the knowledge base with newly learnt factoids. Contacts sensors should be used for handling accidental collision situations. testing, of (i) (ii) (iii) the wireless (simplex or duplex) communications scheme including the embedded knowledge encoding and defined protocol between the knowledge base and the mobile platform, the maze-resolving algorithm processed locally on the robotic platform, and the sensor based 2-D map of the final solution, including a transposed figure of the original maze (walls and openings). Equipment provided: 2 wheel mobile robotic platform, IR sensors for wall tracking and opening discovery, wireless communications medium (RF kit or IR beacon), contact sensors and the Altera UP-2 board/hc12 microcontroller and their respective development environments Project Code: MSR1 Project Code: MSR2

3 Project title: Landmark-Based Path Traversal of a Mobile Robot Project number: 3 A mobile robot controlled by the Altera UP -2 board and/or the HC12 microprocessor, will have to traverse a path to reach a pre-determined location. A grid has to be conceived and laid out as the 2-D map which the robot is traversing. An endpoint has to be defined and transmitted wirelessly to the robot, at which, the robot will attempt to reach by traversing the landmark-based map. The landmarks that could be used could range from different color schemes, to various-sized objects to actual letters indicating street names. The endpoint is successfully established when the robot bumps head-on with a static object. IR sensors will be used to avoid objects along the pathway. The starting point of the robot is dynamic, and the system should be able to handle another endpoint request, right after the completion of one. Contact sensors should be used for handling accidental collision situations. testing, of (i) the simplex wireless communications scheme between the base station and the robot, allowing for the transmission of the endpoint, (ii) the control algorithms for landmark recognition, map traversal (including guide-path following and object avoidance) and accidental collision situations, (iii) the sensor based 2-D map of the robot s traversed path, including a transposed figure of the original map (actual detected landmarks). Equipment provided: 2 wheel mobile robotic platform, optical line-tracking sensors, IR sensors, RF (simplex or duplex) kit, (possibly) a CMU camera, contact sensors and the Altera UP-2 board/hc12 microcontroller and their respective development environments Project Code: LBR1 Project Code: LBR2

4 Project title: Navigation on an Optically Encoded Guide-Path with Object Pick & Place Project number: 4 A mobile robot controlled by the Altera UP -2 board and/or the HC12 microprocessor will have to track a guide-path and recover its absolute position using the information optically marked on a pseudo-random binary code track parallel with the guide-path. It will also have to detect and pick up objects along the guide-path and place them at user-provided absolute locations. It will also have to deliver on-board objects to pre-determined absolute locations. Sonar and/or IR sensors will be used to allow the robot to detect the objects, while line-tracking sensors will be used to allow the robot to optically maintain the guide-path. Contact sensors should be used for handling accidental collision situations. testing, of (i) the control algorithms for guide-path tracking, object sensing, pick and place and accidental collision situations, (ii) the pseudo-random code reading and conversion to natural code allowing the recovery of the mobile robot s position on the guide-path, and (iii) the control algorithm allowing the robot to adjust its speed according to its current position on the guide-path and the guide-path s given 2D shape. Equipment provided: 2 wheel mobile robotic platform, optical sensors for guide-path detection and pseudo-random code reading, IR or sonar sensor(s), contact sensors and the Altera UP-2 board/hc12 microcontroller and their respective development environments Project Code: OER1 Project Code: OER2

5 Project title: Soccer Playing Robotic Agents Project number: 5 Two mobile Soccer Playing Robotic Agents (SPRA) controlled by the Altera UP- board and/or the HC12 microprocessor will have to work as a team in order to track and take control of a slow-moving object (robo-soccer ball). The main objective is to always have the SPRAs collaborating together and attempting to fulfill a pre-defined strategy in pushing the object towards a goal, and reacting to the ball s new position after each push. SPRAs will receive the strategic directions from a Soccer Team Coach (STC) server, which will inform its team s SPRAs of their POSEs (positions and orientations) as well as particular paths and actions to follow. The SPRAs should also be able to wirelessly communicate with the STC server, as well as each other. Finally, an adversary team of STCs will also be present in the soccer arena, and will have similar goals, hence another objective is to not allow the other team to reach their goals. A CMU camera, IR and/or sonar sensors should be used to allow SPRA to adapt to the dynamic location of the tracked ball as well as the locations of the other friend or foe SPRAs. A multisensor fusion algorithm should be utilized to allow the mobile platforms to correctly track the desired object within a dynamic environment where multiple moving objects may reside. Contact sensors should be used for handling accidental collision situations. Note that it is up to the designers to choose whether to take into account the opposing team s robotic structures into their overall strategy. testing, of: (i) (ii) (iii) the ball tracking and controlling algorithms; the multi-sensor fusion algorithm used to distinguish the ball from others, as well as correctly identify the object using its pre-determined customizable characteristics, and correctly identify other (friend or foe) SPRAs, and the on-board intelligence used to synthesize local information about the soccer field world. Equipment provided: 2 wheel mobile robotic platforms, RF duplex kits, IR and/or sonar sensors, a CMU camera for object detection, tracking and trapping, contact sensors and the Altera UP-2 board/hc12 microcontroller and their respective development environments Project Code: SPR1 Project Code: SPR2

6 Project title: Soccer Team Coach and Communications Infrastructure Project number: 6 A Soccer Team Coach (STC) running on a stationary PC server will have to direct and control a team of two mobile Soccer Playing Robotic Agents (SPRA) in a soccer arena playing against another team of two SPRAs controlled by their own STC. A fixed world camera will allow the STC to monitor (by recognizing and tracking) the ball, the SPRAs belonging to its own team as well as those belonging to the adversary team. The STC should include a soccer coaching strategy aimed at directing its team s SPRAs to score a goal on the opposing team. Markers will be placed on all the SPRAs in order facilitate the monitoring process. A duplex wireless communications scheme should be developed to allow each SPRA to communicate with the other SPRA on the same team, as well as to communicate with its team s STC. The scheme has to be robust against other RF interferences, including the ones from the competing team s infrastructure. Note that it is up to the designers to choose whether to take into account the opposing team s robotic structures into their overall strategy. testing, of: (i) (ii) (iii) the world camera robotic platform and soccer ball recognition algorithm used to distinguish and recognize the friendly and foes robotic (robo-soccer player) agents, as well as the moving ball; the duplex wireless communications scheme between each robotic agent and another, as well as the STC server, allowing for the interchange of world data; the soccer coach strategy aimed at directing the team to scoring a goal on the opposing net. Equipment provided: RF duplex kits, (wireless) world camera, object recognition development environment, dedicated STC platform Project Code: STC1 Project Code: STC2

7 Project title: Environment Mapping using a PDA and an IR Antenna on a Mobile Robot Project number: 7 A mobile robot controlled by the Altera UP -2 board and/or the HC12 microprocessor will have to track a guide-path. It will also have to track objects in its immediate environment using a rotating IR antenna, mounted on the platform. The absolute angle has to be recovered using the information optically marked on a pseudo-random binary code track co-centric with the IR antenna. This will be used to correctly identify a structure once the absolute angle has been recovered on the binary track. An onboard PDA demonstrates and updates the recovered path, as well as any surrounding structures detected by the IR antenna. Contact sensors should be used for handling accidental collision situations. test, of (i) the control algorithms for guide-path tracking, IR antenna object detection and accidental collision situations, (ii) the pseudo-random code reading and conversion to natural code allowing the recovery of the IR antenna s rotation angle, and (iii) the real-time sensor based 2-D map of the robot s actual trajectory, as well as any surrounding structures, shown on the onboard PDA. Equipment provided: 2 wheel mobile robotic platform, IR antenna with optical sensor for pseudo-random code reading, contact sensors, Palm PDA and its development kit and the Altera UP-2 board/hc12 microcontroller and their respective development environments Project Code: EMR1 Project Code: EMR2

8 Project title: PDA Tele-Control of a Mobile Robot Project number: 8 A mobile robot controlled by either an onboard Personal Data Assistant (PDA), or the Altera UP-2 board/hc12 microcontroller combination, will have to follow a predefined path received from another PDA. The communications scheme will have to be developed and sent over a wireless link that is established between the base station and the mobile platform. The predefined path has to be traversed accurately by the mobile robot and must represent the shape drawn on the user-held PDA. Obstacles have to be avoided, and the path updated according to these deviations. The robot has to recover its intended path in a minimal fashion after the aversion of obstacles. Contact sensors should be used for handling accidental collision situations. test, of (i) the two-way PDA wireless communication system including the user interface for path definition and robot s position monitoring, (ii) (iii) the control algorithms for guide-path tracking and accidental collision situations, the odometric (an incremental measurement of the traveled distance) sensor system recording the mobile robot s 2D trajectory (distance and turn angles). Equipment provided: 2 wheel mobile robotic platform, IR sensors, RF (simplex or duplex) kit, contact sensors, Palm PDA and its development kit and the Altera UP-2 board/hc12 microcontroller and their respective development environments Project Code: PTR1 Project Code: PTR2