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

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Presentation transcript:

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

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

Project Elements ► Behavioral Control Software ► Communications Software ► DGPS Receiver ► Mapping Software ► AmigoBOT, GPS, PC, and DGPS interfacing Software Design (C++) Hardware Layout

DGPS Receiver

Behavior ► Move towards intermdiate goals, zig-zagging across a rectangular area ► Avoid obstacles encountered along the way EndStart

Traverse Room Algorithm

Navigation Vector Response ► The trajectory of the robot is determined by a sum of vectors produced by obstacles and the goal. ► Vectors are constantly updated as the robot moves

Velocity Functions for Navigation

Mapping ► Create a simple B/W map with 1-foot resolution ► Uses PGM (Portable Grayscale Map) format Sample Map Outputs

Communications ► Serial communication with AmigoBOT and GPS at 9600 bps ► AmigoBOT communications handled in background using windows threads ► MGC4C DLL calls used to retrieve GPS position data

Initialization

Obstacle Avoidance

Heading Towards Goal

Project Timeline Legend Expected Duration Actual Duration

Questions????