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Robot Convoy

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  • 1. Robot Convoy Anees Elhammali Michael Malluck John Parsons Namrata Sopory
  • 2. General Overview + + 802.11b hardware )*3+ ( + + 4* Aim: -To get as much hardware to play with…no seriously -To simulate a remotely monitored and partially controlled convoy Amigobot Wireless Hub, Game adapter Olympus Board CMUCAM Laptop Convoy bot = GT SMARTS
  • 3.
    • Primary Goal : Simulate the behavior of a convoy with three robots
    • Secondary Goal : Build avoidance algorithm and maintain the structure of the convoy
    Wireless Link Wireless Link Wireless Link Overview Contd. Slave Robot1 Slave Robot2 Laptop to control overall application Master Robot
  • 4. Part Details 3 Datel LSN-5/10-D12 Voltage Regulators 1 Linksys (Amazon.com) BEFW11S4 Wireless Router (802.11b) 3 Linksys (Amazon.com) WGA11B (wireless game adapter) Network Adapter 2 Arcom OLYMPUS M0- 16 (with 16Mb onboard flash) Olympus Boards 1 Arcom OLYMPUS SBC-GX1 (Pegasus) with WINDOWS XP Olympus Dev. Kit 3 Dr. Hamblen Amigobots 1 Dr. Hamblen CMU Cams Qty Source Part Details Part
  • 5. Hardware Setup -Windows XP Olympus board on all three robots (board is equipped with a powerful CPU and enough memory to handle any application ) -A game adapter on each robot () - -establish wireless links with other boards using a wireless game adapter and a hub featuring the 802.11b protocol( far range, most widely used, allows for wireless web-based applications) -transmit the path traversed by a lead robot to slave robots for them to follow, thus forming an unmanned convoy (better than controlling all three robots from the laptop to allow for obstacle avoidance of the first robot)
  • 6. Block Diagram Stops indicated bot and all bots behind it Emergency Stop Indicators to let the user know that a bot is stopped because of an obstacle
  • 7. Gantt Chart
  • 8. Cost Analysis Component Cost (in dollars per unit) Amigobot Robot 2000 Arcom Olympus board 1000 CMU Camera 150 Linksys (WGA11B) wireless game adapters 50   One component cost=$3200 Intermediate cost= $9600 Linksys BEFW11S4 Wireless Router 70 TOTAL COST ~$9670
  • 9. Possible Applications
    • Military :
      • Surveillance convoy
      • Transportation convoy
    • Scientific expeditions
    • Rescue operations
    • Relocation of multiple vehicles (car dealership)
  • 10. Bibliography

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