1. DO NOT FEED THE ROBOT

2. The Autonomous Interactive Multimedia Droid (GuideBot) Bradley University Department of Electrical and Computer Engineering EE-452 Dan Leach and John Hathway Advisor: Aleksander Malinowski April 19th, 2005

3. Outline Title/Introduction Project Overview Previous Work Project Description Flash interface Modes of operation Implementation Remaining Work Questions

4. Overview

5. Pioneer 2 Features Guidebot uses Saphira and PAI software supplied by Activmedia for control of movement and other functions Eight sonar transducers positioned around the front of Guidebot PAI software controls all movement, rotational and translational, along with taking in sonar data Onboard heading information allowing for precise turning Onboard distance taken from wheel encoders

6. Pioneer Robotic Platform PC User Input Via Touch Screen Sensor Data Mapping Data Display Output Audio Output Movement of Platform System Block Diagram

7. Pioneer Robotic Platform PC User Input Via Touch Screen Sensor Data Mapping Data Display Output Audio Output Movement of Platform System Block Diagram

8. Pioneer Robotic Platform PC User Input Via Touch Screen Sensor Data Mapping Data Display Output Audio Output Movement of Platform System Block Diagram

9. Previous Work Java-based Manual Web Control

10. Graphical User Interface

15. Modes Of Operation Idle/Assistance Mode Guide Mode Patrol Mode

16. Waypoint Detection Doorframes, open hallways, wall drop offs Waypoint checked every 300 ms using one sonar transducer Waypoints are only checked for when Guidebot is within a predefined range of the waypoint Offices and other sites that are considered waypoints that have no distinguishable features will be found using the nearest waypoints and the distance Guidebot has traveled Most doorframes have a 9cm drop off between the wall and door which is large enough to check with the sonar transducers 9 cm

17. Waypoints

18. Waypoint Detection

19. Drift Correction X Y’ -2Θ-2Θ Y Wall Θ Guidebot is designed to follow a straight path to its destination Problems with drift have been observed and a method for correction has been devised using trigonometry

20. Drift Correction

21. Collision Avoidance

22. Remaining Work Implement waypoint path / hallway crossing Interface interaction / motion sensing

23. Questions?