SurveyBOT Final Report Chris Johnson Miguel Lopez Jeremy Coffeen July 24, 2003 Georgia Institute of Technology School of Electrical and Computer Engineering.

SurveyBOT Final SurveyBOT Final ReportReport

Chris JohnsonChris JohnsonMiguel LopezMiguel Lopez

Jeremy CoffeenJeremy Coffeen

July 24, 2003

Georgia Institute of TechnologySchool of Electrical and Computer Engineering

SurveyBOT GoalsSurveyBOT Goals► An autonomous mobile robotAn autonomous mobile robot► Guided in part by Differential GPS (DGPS)Guided in part by Differential GPS (DGPS)► Capable of graphically mapping unknown Capable of graphically mapping unknown

terrainterrain

Project ElementsProject Elements► Behavioral Control Behavioral Control

SoftwareSoftware► Communications Communications

SoftwareSoftware► DGPS ReceiverDGPS Receiver► Mapping SoftwareMapping Software► AmigoBOT, GPS, PC, AmigoBOT, GPS, PC,

and DGPS and DGPS interfacinginterfacing

PC Software

Mapping Communications Behavior

Laptop PC

AmigoBOT eTrex GPS

DGPS Receiver

Software Design (C++)Software Design (C++)

Hardware LayoutHardware Layout

DGPS ReceiverDGPS Receiver

BehaviorBehavior► Move towards intermdiate goals, zig-zagging across Move towards intermdiate goals, zig-zagging across

a rectangular areaa rectangular area► Avoid obstacles encountered along the wayAvoid obstacles encountered along the way

End Start

Traverse Room AlgorithmTraverse Room Algorithm

Navigation Vector ResponseNavigation Vector Response► The trajectory of the robot is determined by a sum The trajectory of the robot is determined by a sum

of vectors produced by obstacles and the goal.of vectors produced by obstacles and the goal.► Vectors are constantly updated as the robot movesVectors are constantly updated as the robot moves

Velocity Functions for Velocity Functions for NavigationNavigation

Velocity Function For Goto Goal

0%

20%

40%

60%

80%

100%

120%

0 50 100 150 200 250 300

Distance From Goal (mm)

Vel

ocity

Velocity Function From Obstacle Avoidance

0%

20%

40%

60%

80%

100%

120%

0 50 100 150 200 250 300 350 400 450

Distance From Obstacle (mm)

Vel

ocity

MappingMapping► Create a simple B/W map with 1-foot resolutionCreate a simple B/W map with 1-foot resolution► Uses PGM (Portable Grayscale Map) formatUses PGM (Portable Grayscale Map) format

Sample Map Outputs

CommunicationsCommunications

► Serial communication with AmigoBOT and Serial communication with AmigoBOT and GPS at 9600 bpsGPS at 9600 bps

► AmigoBOT communications handled in AmigoBOT communications handled in background using windows threadsbackground using windows threads

► MGC4C DLL calls used to retrieve GPS MGC4C DLL calls used to retrieve GPS position dataposition data

InitializationInitialization

Obstacle AvoidanceObstacle Avoidance

Heading Towards GoalHeading Towards Goal

Project TimelineProject Timeline

Legend

Expected DurationActual Duration

Week 1 Week 2 Week 3 Week 4 Week 5 Week 6 Week 7 Week 8 Week 9 Week 10 Week 1119-May 26-May 2-Jun 9-Jun 16-Jun 23-Jun 30-Jun 7-Jul 14-Jul 21-Jul 28-Jul

Formulate Basic Design RequirementsList and Order Required PartsWrite GPS Interface SoftwareWrite AmigoBot Communications SoftwareBuild DGPS Receiver BoardWrite Navigation and Control SoftwareWrite Mapping SoftwareTest DGPS AccuracyTest NavigationTest MappingInterface DGPS System to laptopInterface Laptop to AmigoBotTest and Refine Entire SystemFinal Report /Presentation / Webpage

AmigoBot Project Gantt Chart

Questions????Questions????