2. Introduction
EZ Robot
System Overview
Communication Method
Exploration Procedure
Phone Application
Demo
Conclusion and Future Work
3. Use of Robotic Exploration: mining accidents,
hostage situations, moon exploration etc.
Rescue people have to risk their lives to explore
unknown areas.
Benefits of using robots to explore: reduced
personnel requirements, reduce fatigue and
access to unreachable areas etc.
4. Mapping and Localization for Extraterrestrial
Robotic Explorations
Robotic Exploration as Graph Construction
Cooperative Search and Rescue with a Team of
Mobile Robots
5. Only one work involves multi robots
Users can’t interactive with robots.
None of them provide wireless phone control
6. Motivation: To overcome these limitations in these
works and increase the accuracy to detect objects.
Objectives:
Develop a wireless communication method between
robots.
Develop algorithms for robots to explore areas.
Robots can detect objects.
Users can use voice to control the robots to explore.
Develop phone application to control robots.
11. Communication: Connect all
devices using router so that they
can communicate with each other.
EZ Builder: The interface of
the EZ Builder that can analyze
data received from robots.
Functions: Object Avoidance,
Voice Control, Object Detection,
Exploration, Phone Application.
12. Router connects all devices using Wi-Fi.
Robot Wi-Fi mode: Access Point and Client
Each device has its own IP address including
robots.
14. Given two rooms, Six and Roli will work
together to retrieve the target to the destination.
15. Roli will ask the permission to start searching
Users can use voice to control roli to start. (Yes: start
searching, No: wait for 15 seconds.)
16. By reading QR Code
at the same height with
robots, Roli enters into
the room and start
searching.
The result of QR Code
will be stored in a
global variable called
“CameraQRCode”.
17. Robots can’t turn perfect 90 degrees or move straight
forward, speed of two wheels are differnt.
Navigation Algorithm: follow the perimeter of the wall.
18. Navigation Algorithm:
1. Set variable count to 0
2. Roli updates distances
3. Compares three distances
with their threshold values.
4. If count > 20, search the
target; otherwise, go to
step 2.
19. Roli Search:
1. Change the direction of
the camera for 20 degrees
each time.
2. If not found, Roli keeps
searching.
20. Roli detects any suspicious objects.
1. Roli ask the permission to grab the target.
2. Users say no to ignore the object or say yes to let the
robot grab the target.
21. • Train Objects in advance.
• EZ Builder provides the result of image processing
and stores the result into a global variable called
“CameraObjectColor”.
22. • Roli approaches the
target by centering the
target in the Middle
Middle section.
• Front distance sensor
detects the distance, if
the distance is smaller
than 3, Roli will grab
the target.
23. If Six finds the target first, Roli will be informed the location
of the room, and ask the permission to grab the target. (Yes:
Roli go to other room to grab, No: Ignore and delete that file. )
24. If Roli is allowed to grab the target in a different room,
Roli goes to the specified room by reading QR Code.
25. After Roli has grab the target, it will ask the permission
to return the target to the destination. (Yes: return, No:
wait)
26. Six reads in the QR Code of the room and starts
searching.
27. In this algorithm, Six has three states in this algorithm
determining if it will go forward, turn left or turn
right.
28. State 1: Forward
State 2: Turn Right 90
degrees.
State 3: Turn left 90
degrees and then move
forward.
Parallel Movement:
Six adjusts itself to be
paralleled with the wall
29. If Six finds the target, it writes a file with the room
number to the system and curl up into a ball and shut
down.
34. Conclusion
› Wireless Communication method
› Two Navigation Algorithms
› Object Detection
› Voice Control
› Phone Application
35. Future Work
› Replace Six
Six moves very slow.
› Involve more robots
More robots will be involved to explore larger areas.
› Extend the range of network
Control robots in longer distance.
Introduction will talk about the background, related work and project motivation and objectives.
Robot’s Selection will briefly talk about the EZ Robot.
System Overview will talk about the whole view of this project.
Communication Method
Exploration Procedure will talk about the process of robots exploration, and will also talk about the algorithms that’s involved.
Phone Application will talk about the application that I developed to control the robot.
And last two points will be demo and conclusion.
There are many disasters happening every year, like mining accidents, hostage situations, fire hazard so on and so forth.
Rescue people have to risk their lives to explore unknown area. In this situation, robots are developed to explore those areas to help rescue people.
Benefits of using robots to explore includes reduced personnel requirements, reduce fatigue and access to unreachable areas. A good example of that is that rescue robots were used in search for victims and survivors after the September 11 attacks in New York.
I list three related works I found here.
Mapping and localization for extraterrestrial robotic explorations. The first work addresses two tasks related to robotic ex
You can’t interrupt them.
To overcome these weaknesses, provides wireless functions.
In this section, I will introduce the EZ Robot that I use for this project.
In this section, I will introduce the EZ Robot that I use for this project.
Move roli abnormal scenarios to here.
If Six finds the target, it writes a file with the room number to the system and curl up into a ball and shut down.
This way if Roli comes across Six it will just treat it as an obstacle and walk around Six.
If Six finds the target, it writes a file with the room number to the system and curl up into a ball and shut down.
This way if Roli comes across Six it will just treat it as an obstacle and walk around Six.
If Six finds the target, it writes a file with the room number to the system and curl up into a ball and shut down.
This way if Roli comes across Six it will just treat it as an obstacle and walk around Six.
If Six finds the target, it writes a file with the room number to the system and curl up into a ball and shut down.
This way if Roli comes across Six it will just treat it as an obstacle and walk around Six.
