1 Cartel: Cartography (mapmaking) + Intel (intelligence) Preliminary Design Review ECE4007 L01 – Senior Design – Fall 2007 School of Electrical and Computer Engineering Georgia Institute of Technology Project Advisor: Dr. Hamblen Autonomous Multi-robot Mapping System Brandon Chong - Team Leader David Esiobu Jonathan King Mark Nfodzo Christopher Pau - Webmaster
Cartel: Cartography (mapmaking) + Intel (intelligence). Preliminary Design Review ECE4007 L01 – Senior Design – Fall 2007 School of Electrical and Computer Engineering Georgia Institute of Technology Project Advisor: Dr. Hamblen. Autonomous Multi-robot Mapping System . - PowerPoint PPT Presentation
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Intelligence ControllerGenerates movement operations
Runs on startup
Stores
Initial position
Map Data
Starts deployment procedure
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Robot Deployment Procedure
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Robot Deployment Procedure (2)
1) Leader (Robot 1) is in initialization2) Robot 2 gets position and starts exploration3) Robot 3 gets position and starts exploration4) No more robots after 3 minutes5) Leader starts exploration
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• Implements UDP/IP
• Opens Socket for receiving data
• Opens Socket for sending data
• Sends Broadcast Packets
Wireless Controller
Source: http://bit.kuas.edu.tw/~csshieh/
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Sensor Controller• Initialize interfaces to sensors and
servo• Process periodic readings from sonar
sensors• Take IR readings from a specified
angle• Generate events for Intelligence
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Robot Controller• Initialize and configure the Create• Translate commands to the Create’s
Open Interface• Process periodic readings from robot
sensors• Generate events for Intelligence
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Intelligence Controller• Process events generated by other
controllers• Make decisions about motion based
on gathered data• Share findings with other robots at
regular intervals
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Intelligence Controller - Exploration• Discretize the space • Track the explored
and occupied cells• Avoid explored areas
and probe occupied ones
• Sonar data will offer longer range, “soft” feedback
• IR readings will give hard numbers at closer range
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Advantages/Disadvantages of Controller Design• Divides work up• Shortens development time• Easily changeable for different robots• Increases complexity