Multi-Robot Project_Final_v2

多机器人系统设计项目总结

Multi-Robot ProjectBlake Birmingham, Marcus Yazzie, Michelle Paynes, Nathan Kiel, Patrick Murphy, Marc NixonWith support from: Georgios Fainekos and Kangjin Kim

多机器人系统设计项目总结

多机器人系统设计项目总结

Goal 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 Linux.

多机器人系统设计项目总结

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

多机器人系统设计项目总结

iRobot Create Platform 3000 mAh battery 5 v and 18 v power for addons Should Power the components for at least 20 minutes We’ll be choosing the addons ourselves Fixed requirement by sponsor

多机器人系统设计项目总结

Design Considerations Netbook vs EmbeddedNetbook:Pros 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

Cons

Embedded:Pros 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.

Cons

多机器人系统设计项目总结

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.

多机器人系统设计项目总结

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

多机器人系统设计项目总结

Camera Options

Surveyor Stereo Vision System

Videre Stereo Camera

Normal WebcamAny Logitech or other brand webcam

多机器人系统设计项目总结

Design Considerations CameraFirewire Stereo Cameras:Pros Support is already implemented in ROS. Very expensive Very difficult to find a computer or embedded system with an IEEE 1394 port.

Cons

Wi-Fi Stereo cameraPros 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.

Cons

Mono cameraPros 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.

Cons

多机器人系统设计项目总结

Fin

al Camera Choice: Surveyor Stereo Vision System Two SRV-1 Blackfin Cameras with 90-deg FOV lenses Interprocessor communications via SPI bus (64MHz) 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 motor Headers for 8 servos (5V regulator provided)

多机器人系统设计项目总结

Design Considerations RFIDConsiderations for RFID reader: Acceptable Range Price Existing support in Robotic Operating System.

多机器人系统设计项目总结

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 (Green). Added ability to turn off RFID as desired. Reads EM4102 type tags

多机器人系统设计项目总结

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

多机器人系统设计项目总结

Plexiglas Example Simple design ¼ inch Plexiglas Cut using power jigsaw Held down using four 3" bolts with 2 x 1" nylon standoffs

多机器人系统设计项目总结

Wood Example More complicated Laser cut wooden box Constructed using CAD design Would most likely require a machine shop

多机器人系统设计项目总结

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

多机器人系统设计项目总结

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

多机器人系统设计项目总结

Academy of Model Aeronautics Membership

Required to legally fly the UAV in Arizona Includes access to all AMA sanctioned fields Also includes liability insurance

多机器人系统设计项目总结

BudgetBUDGET SUMMARY IN PROPOSAL Fall 2010 A. Equipment 1. 2. 3. 4. 5. Suveyor Stereo Vision Camera (with Pan Tilt option) iRobot Create Development Package Hokuyo URG-04 LX Laser Range Finder Gumstix Overo Fire Wireless Pack Phidget's RFID Reader (USB) Total Equipment Cost: $625.00 $625.00 $299.99 $299.99 $2,375.00 $2,375.00 $389.00 $389.00 $53.60 $53.60 $3,742.59 $3,742.59 Summary

B. Supplies 1. Sparkfun Xbee Pro 50mW Series 2.5 Wire Antenna Module 2. Sparkfun Xbee Explorer USB Regulator Total Supply Cost: C. Memberships 1. Academy of Model Aeronautics Membership Total Membership Costs: D. Total Project Costs $58.00 $58.00 $58.00 $58.00 $40.95 $24.95 $65.90 $40.95 $24.95 $65.90

$3,866.49 $3,866.49

多机器人系统设计项目总结

Alternative Designs

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