1. 0 Test Slide Text works. Text works. Graphics work. Graphics work.

2. Self-Mapping Mobile Robot Senior Capstone Project Proposal Department of Electrical and Computer Engineering Bradley University Advisor: Dr. A.Malinowski Presented by Stephanie Luft 06 December 2005

3. 2 Presentation Outline Project Overview Project Overview Review of Previous Work Review of Previous Work System Block Diagram System Block Diagram Software Functionality Software Functionality Equipment Equipment Schedule Schedule Questions Questions

4. 3 Presentation Outline Project Overview Project Overview Review of Previous Work Review of Previous Work System Block Diagram System Block Diagram Software Functionality Software Functionality Equipment Equipment Schedule Schedule Questions Questions

5. 4 Project Overview Objective: To develop a robot that will Objective: To develop a robot that will Map an area of its environment Map an area of its environment Locate itself within the map Locate itself within the map Orient itself within the environment Orient itself within the environment

6. 5 Presentation Outline Project Overview Project Overview Review of Previous Work Review of Previous Work System Block Diagram System Block Diagram Software Functionality Software Functionality Equipment Equipment Schedule Schedule Questions Questions

7. 6 Review of Previous Work GuideBot Capstone Project 2005 GuideBot Capstone Project 2005 John Hathway and Daniel Leach John Hathway and Daniel Leach Thesis: “Concurrent Map Building and Self- Localization for Mobile Robot Navigation” Thesis: “Concurrent Map Building and Self- Localization for Mobile Robot Navigation” Thomas Duckett, Manchester, United Kingdom Thomas Duckett, Manchester, United Kingdom University of Illinois Mechatronics Lab Projects University of Illinois Mechatronics Lab Projects http://coecsl.ece.uiuc.edu/ge423/spring04/group7/group7.html http://coecsl.ece.uiuc.edu/ge423/spring04/group7/group7.html http://coecsl.ece.uiuc.edu/ge423/spring03/Group7/index.html#_Toc40283479 http://coecsl.ece.uiuc.edu/ge423/spring03/Group7/index.html#_Toc40283479

8. 7 Presentation Outline Project Overview Project Overview Review of Previous Work Review of Previous Work System Block Diagram System Block Diagram Software Functionality Software Functionality Equipment Equipment Schedule Schedule Questions Questions

9. 8 System Block Diagram

10. 9

11. 10 System Block Diagram

12. 11 System Block Diagram

13. 12 Presentation Outline Project Overview Project Overview Review of Previous Work Review of Previous Work System Block Diagram System Block Diagram Software Functionality Software Functionality Equipment Equipment Schedule Schedule Questions Questions

14. 13 Software Functionality Functional Modes: Functional Modes: Mapping Mapping Maneuvering Maneuvering Immediate Response Immediate Response C++/MATLAB C++/MATLAB

15. 14 Software: Mapping Mode Plot environment and locate robot Plot environment and locate robot Distance sensing Distance sensing Immediate response Immediate response Data transmission Data transmission Plotting – obstacles and robot location Plotting – obstacles and robot location Self-locating Self-locating Previous map identification Previous map identification Navigation and maneuvering Navigation and maneuvering

16. 15 Software: Maneuvering Mode Allow user to control robot Allow user to control robot User interface User interface Data transmission Data transmission Immediate response Immediate response Navigation and maneuvering Navigation and maneuvering Distance sensing Distance sensing Self-locating Self-locating Plotting – robot location only Plotting – robot location only

17. 16 Software Functionality: Mapping and Maneuvering

18. 17 Software Functionality: Immediate Response

19. 18 Presentation Outline Project Overview Project Overview Review of Previous Work Review of Previous Work System Block Diagram System Block Diagram Software Functionality Software Functionality Equipment Equipment Schedule Schedule Questions Questions

20. 19 Equipment ActiveMedia Pioneer 2 mobile robotic platform ActiveMedia Pioneer 2 mobile robotic platform Laptop computer with wireless connection Laptop computer with wireless connection Digital compass Digital compass Remote PC with network connection Remote PC with network connection Laser distance meter Laser distance meter Pan-tilt unit Pan-tilt unit Appropriate connectors for all equipment Appropriate connectors for all equipment MATLAB, Visual Studio, and/or another type of software development system. MATLAB, Visual Studio, and/or another type of software development system.

21. 20 Equipment: Distance Meter Selection Considerations: Considerations: Cost Cost Accuracy Accuracy Measurable distance: a 0.2 to 10 meter range Measurable distance: a 0.2 to 10 meter range Safety Safety Weight Weight Computer interface Computer interface Availability Availability TLM 100 feasibility investigation TLM 100 feasibility investigation

22. 21 Presentation Outline Project Overview Project Overview Review of Previous Work Review of Previous Work System Block Diagram System Block Diagram Software Functionality Software Functionality Equipment Equipment Schedule Schedule Questions Questions

23. 22 Schedule Week of 22 Jan. Research software methods and details of equipment functionality 1 week 29 Jan. – 11 Feb. Connect hardware, develop functional understanding 2 weeks 12 Feb. – 25 Feb. Software development 2 weeks 26 Feb. – 11 Mar. Software simulation 1 week 12 Mar. – 15 Apr. Software debug and test 5 weeks 16 Apr. – end of semester Prepare for final report, presentation, and expo 1-2 weeks

24. Self-Mapping Mobile Robot Senior Capstone Project Proposal Department of Electrical and Computer Engineering Bradley University Advisor: Dr. A.Malinowski Presented by Stephanie Luft 06 December 2005 Questions? sluft@bradley.edu