Difference between revisions of "2021SpringTeam3"

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(RP Lidar A1 Code)
 
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* Yikai Huang – Mechanical Engineering Senior
 
* Yikai Huang – Mechanical Engineering Senior
  
(GROUP PICTURE)
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[[File:Group_pic.jpg]]
  
 
== Project Overview ==
 
== Project Overview ==
 
In this project, students are tasked with building and programming a Waveshare Jetbot AI to navigate through a maze. The outcome from this project will allow us to build a robot that will find itself out an unknown area without driving manually. This is accomplished by using Robotic Operating System, SLAM Algorithm, and Jetson Nano.  
 
In this project, students are tasked with building and programming a Waveshare Jetbot AI to navigate through a maze. The outcome from this project will allow us to build a robot that will find itself out an unknown area without driving manually. This is accomplished by using Robotic Operating System, SLAM Algorithm, and Jetson Nano.  
  
(IMAGE OF Hardware)
 
 
   ''Figure 1'': Jetbot, Jetson Nano, and Lidar
 
   ''Figure 1'': Jetbot, Jetson Nano, and Lidar
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[[File:Jetbot.jpg]] [[File:Jetbot1.jpg]]
  
 
=== Must Haves ===
 
=== Must Haves ===
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* The implementation of Odometry which is the use of data from motion sensors to estimate change in position over time.
 
* The implementation of Odometry which is the use of data from motion sensors to estimate change in position over time.
  
=== Project Video ===
 
(QUICK VIDEO OF PROJECT )
 
  
=== Project Presentation ===
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=== Mechanical Design ===
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The major components of the mechanical design include the baseplate and RP Lidar A1.
  
== Hardware ==
 
  ''Figure 2'': Team 3 Jetbot AI
 
  
=== Mechanical Design ===
 
The major components of the mechanical design include the baseplate.
 
==== Baseplate ====
 
Text about baseplate
 
 
(CAD)
 
  ''Figure 3'': Baseplate CAD Design
 
  
 
=== Electrical and Hardware Design ===
 
=== Electrical and Hardware Design ===
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# DC Motors – Rotates the wheels to provide mobility.  
 
# DC Motors – Rotates the wheels to provide mobility.  
  
   ''Figure 4'': Car Wiring Diagram with Original Hardware [[File:Wiringbot.jpg]]
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   ''Figure 4'': Car Wiring Diagram with Original Hardware
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  [[File:WiringandHardware.jpg]]
  
== Maze Structure ==
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=== Maze Structure ===
 
''Figure 5'': Maze
 
''Figure 5'': Maze
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[[File:maze1.jpg]] 
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 +
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[[File:maze2.jpg]]
  
 
== Software ==
 
== Software ==
Git Repository: (LINK HERE)
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Github Repository: (https://github.com/gtierrezandres/maze_buster)
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 +
=== RP Lidar A1  ===
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Tested Slam algorithm to generate a map of maze.
  
=== RP Lidar A1 Code ===
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[[File:slam.jpg]]
Description
 
  
 
=== Jetson Nano Code ===
 
=== Jetson Nano Code ===
 
==== ROS ====
 
==== ROS ====
ROS nodes, topics, etc.  
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ROS nodes, topics, etc.
 
 
  
 
== Advice and Suggestions for the Future ==
 
== Advice and Suggestions for the Future ==
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=== Future Suggestions for RP Lidar A1 Use ===
 
=== Future Suggestions for RP Lidar A1 Use ===
* Add comment
+
* Using a IMU or odometry on the robot so it can give better mapping and we can use more package such as amcl to do more accurate localization.
* Add comment
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*Do motion planning and navigate it through rviz?
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*Stop on object detection?
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*This can be implemented in a school project for a robot to deliver food on campus?
  
 
== Acknowledgements and References ==
 
== Acknowledgements and References ==
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*Dominic and Haoru - Thank you for providing essential advise on how to use implement SLAM and ROS for our project, and also helping us find solutions for our hardware. .
 
*Dominic and Haoru - Thank you for providing essential advise on how to use implement SLAM and ROS for our project, and also helping us find solutions for our hardware. .
 
*Professor Silberman and Professor de Oliveira - Thank you for providing a priceless learning opportunity!
 
*Professor Silberman and Professor de Oliveira - Thank you for providing a priceless learning opportunity!
 
=== References ===
 
#[Link]
 
#[link]
 

Latest revision as of 14:00, 12 June 2021

Team Members

  • Andres Gutiérrez – Computer Engineering Senior
  • Louis Nicaud – Computer Science Engineering Senior
  • Yusuf Patel – Mechanical Engineering Senior
  • Yikai Huang – Mechanical Engineering Senior

Group pic.jpg

Project Overview

In this project, students are tasked with building and programming a Waveshare Jetbot AI to navigate through a maze. The outcome from this project will allow us to build a robot that will find itself out an unknown area without driving manually. This is accomplished by using Robotic Operating System, SLAM Algorithm, and Jetson Nano.

  Figure 1: Jetbot, Jetson Nano, and Lidar

Jetbot.jpg Jetbot1.jpg

Must Haves

  • Jetson Nano which is the main computer that lets you run multiple neural networks in parallel for applications.
  • Waveshare Jetbot AI that is installed with motors and connected to Jetson Nano.
  • RP Lidar A1 that uses a system that measures distance data in more than 2000 times' per second and with high resolution distance output, which also provides a 360 degree scan field.
  • Detailed physical Maze

Nice to Haves

  • Robot scans entire maze and provides a map of which direction to go through the maze.
  • Maps out the maze autonomously.
  • The implementation of Odometry which is the use of data from motion sensors to estimate change in position over time.


Mechanical Design

The major components of the mechanical design include the baseplate and RP Lidar A1.


Electrical and Hardware Design

The car's electrical assembly consists of three main components:

  1. Jetson Nano – The single board computer (SBC) in charge of controlling the Jetbot AI.
  2. RP Lidar A1 – A 360 degree 2D laser scanner.
  3. DC Motors – Rotates the wheels to provide mobility.
  Figure 4: Car Wiring Diagram with Original Hardware
 WiringandHardware.jpg

Maze Structure

Figure 5: Maze

Maze1.jpg


Maze2.jpg

Software

Github Repository: (https://github.com/gtierrezandres/maze_buster)

RP Lidar A1

Tested Slam algorithm to generate a map of maze.

Slam.jpg

Jetson Nano Code

ROS

ROS nodes, topics, etc.

Advice and Suggestions for the Future

Advice

  • If using a bigger robot the maze needs to be much bigger.
  • With more time, write a code to map the maze autonomously.

Future Suggestions for RP Lidar A1 Use

  • Using a IMU or odometry on the robot so it can give better mapping and we can use more package such as amcl to do more accurate localization.
  • Do motion planning and navigate it through rviz?
  • Stop on object detection?
  • This can be implemented in a school project for a robot to deliver food on campus?

Acknowledgements and References

Acknowledgements

  • Dominic and Haoru - Thank you for providing essential advise on how to use implement SLAM and ROS for our project, and also helping us find solutions for our hardware. .
  • Professor Silberman and Professor de Oliveira - Thank you for providing a priceless learning opportunity!