Multi Robot 20Project_Final_v2

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					       Multi-Robot Project
Blake Birmingham, Marcus Yazzie, Michelle Paynes,
     Nathan Kiel, Patrick Murphy, Marc Nixon
                 With support from:
          Georgios Fainekos and Kangjin Kim
• Develop a low cost modular autonomous robotic platform
  based on iRobot Create. We are to develop a group of
  unmanned ground vehicles during 2010-2011 school year. We
  plan to have a working prototype by the end of the 1st
  semester. We would then duplicate the robot and create two
  to three more unmanned ground vehicles creating a group of
  networked autonomous robots by the end of the 2nd
  semester. The robot will be implemented on the iRobot
  Create using the open source Robotic Operating system in
            The Components
•   iRobot create platform
•   Control computer (Gumstix)
•   Laser range finder
•   Pan-tilt camera system
•   RFID reader
•   Mounting system
•   Sonar sensor (optional)
•   Hummingbird autopilot UAV
•   AMA membership w/ insurance
         iRobot Create Platform

• 3000 mAh battery
• 5 v and 18 v power for add-
• Should Power the
  components for at least 20
• We’ll be choosing the add-
  ons ourselves
• Fixed requirement by sponsor
                          Design Considerations
                          Netbook vs Embedded
       •   Higher processing capabilities
       •   Onboard battery
       •   No embedded system I/O (RS232, I2C, SIP, etc)
       •   All I/O functionality must be provided via USB peripherals, which will likely require an
           attached USB hub

       •   Very low weight and small size
       •   Integrated embedded system I/O (I2C, SIP, RS232)
       •   Most have USB ports.
       •   May require a USB attached hub to support all the robot components.
       •   No on-board battery.
Gumstix Overo Fire Wireless Pack

•   OMAP3530 processing
•   Bluetooth
•   802.11(b/g) wireless communications
•   High speed USB Host & OTG
•   8GB of storage
•   3.5" touch screen LCD display.
 Hokuyo URG-04LX Laser Range Finder
• Power source: 5V
• Current consumption: 0.5A, current
  consumption (Rush current 0.8A)
• Detection range: up to approx 4m
• Scan time: 100 msec/scan (10.0Hz)
• Resolution: 1mm
• Angular resolution: 0.36 degree
• Interface: USB 2.0 or RS232
• Weight: 1 lbs
                       Camera Options

                                Surveyor Stereo Vision System

Videre Stereo Camera

                          Normal Webcam
                          Any Logitech or other brand webcam
                             Design Considerations
Firewire Stereo Cameras:
       •    Support is already implemented in ROS.
       •   Very expensive
       •   Very difficult to find a computer or embedded system with an IEEE 1394 port.

Wi-Fi Stereo camera
       •   Uses Wi-Fi instead of IEEE1394 making it accessible for any of the proposed computers
       •   Will require some hacking to integrate with ROS. It is a risk as we do not know what kind of development
           time may be necessary to integrate the camera.

Mono camera
       •   Fairly inexpensive but requires an add-on pan-tilt feature for most models.
       •   Has no stereo vision capabilities
       •   Most models do not have pan-tilt functionality. Requires add-on pan-tilt.
               Final Camera Choice:
           Surveyor Stereo Vision System
•   Two SRV-1 Blackfin Cameras with 90-deg
    FOV lenses
•   Interprocessor communications via SPI bus
•   WiFi communication via Lantronix
    Matchport WLAN 802.11g radio w/onboard
    3dB dipole antenna
•   Dual H-bridge motor driver (Fairchild
    FAN8200) with 1000mA capacity per
•   Headers for 8 servos (5V regulator
            Design Considerations
Considerations for RFID reader:

  • Acceptable Range
  • Price
  • Existing support in Robotic Operating System.
          Phidget’s RFID Reader
• Range of 4 inches
• Reads at 125 kHz
• 5V output
• +5V LED output for driving an
  external LED.
• An onboard LED on the board
• Added ability to turn off RFID as
• Reads EM4102 type tags
                Mounting System

• Will either be designed by us or we
  could commission a machine shop.
• Previous iRobot Create projects
  have made mounts from:
   – Plexiglas
   – Metal Brackets
   – Wood
   – ETC
               Plexiglas Example
•   Simple design
•   ¼ inch Plexiglas
•   Cut using power jigsaw
•   Held down using four 3"
    bolts with 2 x 1" nylon
              Wood Example
• More complicated
• Laser cut wooden box
• Constructed using CAD
• Would most likely
  require a machine shop
        Maxbotix LV-MaxSonar-EZ4 High
         Performance Sonar Module

• Ranges from 6" to 254" (6.45m)
• Serial (0-5V), Analog Voltage or Pulse
  Width interfaces
• 2.5cm (1") Resolution
• 22.1x19.9x16.4 mm
• Optional component
               AscTec Hummingbird
                  Research Pilot
•   Max Speed: 50 km/h
•   Launch Type: VTOL
•   Operating Altitude: 50 meters
•   Max Flight Time: 20 minutes
•   Max Payload: 200 g
•   Xbee wireless
Academy of Model Aeronautics

• Required to legally fly the UAV in Arizona
• Includes access to all AMA sanctioned fields
• Also includes liability insurance
                                                                              Fall 2010   Summary
A. Equipment
                   1.   Suveyor Stereo Vision Camera (with Pan Tilt option)     $625.00   $625.00
                   2.   iRobot Create Development Package                       $299.99   $299.99
                   3.   Hokuyo URG-04 LX Laser Range Finder                   $2,375.00 $2,375.00
                   4.   Gumstix Overo Fire Wireless Pack                        $389.00   $389.00
                   5.   Phidget's RFID Reader (USB)                              $53.60    $53.60
                                                     Total Equipment Cost:    $3,742.59 $3,742.59

B. Supplies
                   1. Sparkfun Xbee Pro 50mW Series 2.5 Wire Antenna Module      $40.95     $40.95
                   2. Sparkfun Xbee Explorer USB Regulator                       $24.95     $24.95
                                                  Total Supply Cost:             $65.90     $65.90

C. Memberships
                   1. Academy of Model Aeronautics Membership                    $58.00     $58.00
                                                  Total Membership Costs:        $58.00     $58.00

D. Total Project Costs                                                        $3,866.49 $3,866.49
Alternative Designs
Alternative Designs

 •   One fully assembled robot with all hardware equipment (shown in
     Budget section) mounted onto the robot. The robot should be able to
     autonomously navigate to some arbitrary destination using sensors.

 •   Source code for the robot properly commented and explained.

 •   Decision on hardware parts with documentation
 •   Midterm Report and Presentation
 •    Any software documentation of existing ROS packages or functions
     that we used for our robot.
 •   Block diagram of the system representing all important parts and
     functions in our system.
 •   Proof of permit and liability insurance from the Academy of Model
     Airplanes for the person flying the UAV.
 •   Final Report and presentation
               Literature Review
• Qbot: An Educational Mobile Robot Controlled in
  MATLAB Simulink Environment
   – Describes framework of an educational robot Qbot
   – Utilizes Quanser's Mobile Robot Control Framework
     (QMRCF), a set of libraries used to develop navigation
     and behavioral algorithms
   – Researchers used QMRCF to create both autonomous
     and non-autonomous control for Qbot
   – When autonomous, the robot can be given a map, a
     series of waypoints and be left to its own devices to
     reach each waypoint
•   Huq, Rajibul, Lacheray, Hervé, Fulford, Cameron, Wight, Derek, Apkarian Jacob,
    Qbot: An Educational Mobile Robot Controlled in MATLAB Simulink Environment,
    Markham, ON, Canada.

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