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<!doctype html>
<html lang="en">
<head>
<meta charset="utf-8">
<title>Control of mobile robots</title>
<meta name="description" content="Control of mobile robots">
<meta name="author" content="sejoker">
<meta name="apple-mobile-web-app-capable" content="yes" />
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</head>
<body>
<div class="reveal">
<div class="slides">
<section>
<h2>KyivJS: control of mobile robots with JavaScript</h2>
</section>
<section>
<h3>Beginning: Arduino Inventor's Kit</h3>
<img src="img/inventor_kit.jpg" alt="Arduino inventor kit">
</section>
<section>
<h3>ReadBoard Key features</h3>
<ul>
<li>Based on Arduino Uno</li>
<li>ATmega328 microcontroller</li>
<li>32k Flash Memory</li>
<li>16MHz Clock Speed</li>
<li>Input voltage - 7-15V</li>
<li>14 Digital I/O Pins (6 PWM outputs)</li>
<li>6 Analog Inputs</li>
<li>USB connection</li>
</ul>
<img style="position:absolute; margin-left: 60px;" src="img/redboard.jpg" alt="RedBoard">
</section>
<section>
<h3>C++ Blink example</h3>
<pre><code class="javascript">
int ledPin = 13; // LED connected to digital pin 13
// The setup() method runs once, when the sketch starts
void setup() {
// initialize the digital pin as an output:
pinMode(ledPin, OUTPUT);
}
// the loop() method runs over and over again,
// as long as the Arduino has power
void loop()
{
digitalWrite(ledPin, HIGH); // set the LED on
delay(1000); // wait for a second
digitalWrite(ledPin, LOW); // set the LED off
delay(1000); // wait for a second
}
</code></pre>
</section>
<section>
<h3>JavaScript Blink example</h3>
<pre><code class="javascript">
var j5 = require("johnny-five");
var myBoard, myLed;
myBoard = new j5.Board();
myBoard.on("ready", function() {
myLed = new j5.Led(13);
myLed.strobe( 1000 );
// make myLED available as "led" in REPL
this.repl.inject({
led: myLed
});
// try "on", "off", "toggle", "strobe", "stop" (stops strobing)
});
</code></pre>
</section>
<section>
<h3>Johnny-Five</h3>
<img style="float: right" src="img/johnny-five-small.png" alt="Johnny-five">
<h4>"... is an Open Source, IoT and Robotics programming framework"</h4>
<ul>
<li>Arduino</li>
<li>Beagle Bone</li>
<li>Intel Galileo</li>
<li>Raspberry Pi</li>
<li>many more</li>
</ul>
</section>
<section>
<h3>Johnny-five interfacing with Arduino</h3>
<img src="img/serial.png" alt="Johnny-five interfacing with Arduino">
</section>
<section>
<h2 style="display: table">First try: Motobot</h3>
<img src="img/motobot.JPG" alt="Motobot" style="position: absolute; margin-left:300px">
<h3>Hardware</h4>
<ul style="display: block">
<li>Arduino Uno</li>
<li>Motor Shield</li>
<li>Ultrasonic distance sensor</li>
<li>Servo</li>
</ul>
<h3>Software</h3>
<ul style="display: block">
<li>Johnny-Five</li>
<li>Standard Firmata</li>
<li>Naive obstacle avoidance algorithm</li>
</ul>
</section>
<section>
<h3>Coursera</h3>
<img style="float: right" src="img/coursera.png" alt="Control of Mobile Robots">
</section>
<section>
<h3>Course content</h3>
<ul>
<li>Control theory, linear algebra</li>
<li>Different behaviors</li>
<li>Real robot control</li>
<img src="img/quickbot.jpg" alt="QuickBot" style="position:absolute; margin-left: 500px">
</ul>
</section>
<section>
<h3>Driving robots around</h3>
<img src="img/driving-robot.png" alt="Driving robots around">
<div class="text-right"> *<font style="font-size: 20px;">Magnus Egerstedt,Control of Mobile Robots,Georgia Institute of Technology</font>
</div>
</section>
<section>
<h3>Divide and conquer with Behaviors</h3>
<ul>
<li>Go-to-goal</li>
<li>Avoid-obstacles</li>
<li>Follow-wall</li>
<li>Track-target</li>
</ul>
</section>
<section>
<h3>Differential Drive Robots</h3>
<ul>
<li>In order to control mobile robots, we need models </li>
<li>Differential drive wheeled robots a very common</li>
</ul>
<img src="img/differential-drive.png" alt="Differential Drive Robots">
<div class="text-right"> *<font style="font-size: 20px;">Magnus Egerstedt,Control of Mobile Robots,Georgia Institute of Technology</font>
</div>
</section>
<section>
<h3>Differential Model</h3>
<img src="img/diff-model.png" alt="Differential Model">
<div class="text-right"> *<font style="font-size: 20px;">Magnus Egerstedt,Control of Mobile Robots,Georgia Institute of Technology</font>
</div>
</section>
<section>
<h3>Unicycle Model</h3>
<img src="img/unicicle-model.png" alt="Unicycle Model">
<div class="text-right"> *<font style="font-size: 20px;">Magnus Egerstedt,Control of Mobile Robots,Georgia Institute of Technology</font>
</div>
</section>
<section>
<h3>Model 2.0</h3>
<img src="img/model2.png" alt="Model 2.0">
<div class="text-right"> *<font style="font-size: 20px;">Magnus Egerstedt,Control of Mobile Robots,Georgia Institute of Technology</font>
</div>
</section>
<section>
<h3>Odometry</h3>
<ul>
<li>The state of the robot is (x, y, φ)</li>
<li style="font-weight:bold; font-style:italic">How do we obtain this state information?</li>
<li>Two possibilities:<ul>
<li>External sensors</li>
<li>Internal sensors
<ul>
<li>Orientation: Compass</li>
<li>Position: Accelerometers, Gyroscopes</li>
<li>Wheel Encoders</li>
</ul>
</li>
</ul>
</li>
</ul>
</section>
<section>
<h3>Wheel Encoders</h3>
<ul>
<li>Wheel encoders give the distance moved by each wheel</li>
<li>Assume the wheels are following an arc (short time scale)
</li>
</ul>
<img src="img/wheel-encoders0.png" alt="Wheel Encoders">
<div class="text-right"> *<font style="font-size: 20px;">Magnus Egerstedt,Control of Mobile Robots,Georgia Institute of Technology</font>
</section>
<section>
<h3>How it looks?</h3>
<img src="img/wheel-encoder.jpg" alt="Wheel disk">
</section>
<section>
<h3>Wheel Encoders</h3>
<div>How do we know how far each wheel has moved?</div>
<img src="img/wheel-encoders.png" alt="Wheel Encoders">
<div class="text-right"> *<font style="font-size: 20px;">Magnus Egerstedt,Control of Mobile Robots,Georgia Institute of Technology</font>
</div>
</section>
<section>
<h3>Special thanks</h3>
<img src="img/dmitry.png" alt="Dmitry Aleksandrov">
<img src="img/encoder.jpg" alt="Encoder">
</section>
<section>
<h3>Range sensors</h3>
<img src="img/sensors.png" alt="Range Sensors">
<div class="text-right"> *<font style="font-size: 20px;">Magnus Egerstedt,Control of Mobile Robots,Georgia Institute of Technology</font>
</div>
</section>
<section>
<h3>Robot communication control</h3>
<img src="img/simiam.png" alt="Sim.I.Am">
</section>
<section>
<h3>Alternative simulator</h3>
<img src="img/pysimiam.png" alt="Pysimiam">
</section>
<section>
<h3>Communication interface</h3>
<pre>
<code>
Command Set:
========================== ===============================================
$CHECK*\n returns 'Hello from QuickBot'
$PWM?*\n returns wheel speeds in PWM: [50, -50]\n
$PWM=[-100,100]*\n sets the speed of the robot wheel velocities
$ENVAL?*\n returns the encoder ticks ``(tl, tr)`` tuple
$ENVEL?*\n returns the encoder velocities ``(vl, vr)``
tuple
$IRVAL?*\n returns the 5-tuple raw ADC values of the IR
sensors, e.s [80.0, 251.0, 234.1, 12.1, 21.3]\n
$RESET*\n resets encoder position to zero
$END*\n disconnects from socket
========================== ===============================================
</code>
</pre>
</section>
<section>
<h3>Pysimiam with Arduino</h3>
<img src="img/pysimiam_js.png" alt="Pysimiam wit Arduino">
</section>
<section>
<h3>Challenges</h3>
<ul>
<li>Testing on real hardware</li>
<li>Bugs location</li>
<li>Complex course material</li>
</ul>
</section>
<section>
<h3>Further steps</h3>
<ul>
<li>Calibrate hardware</li>
<li>Arduino Yun</li>
<li>Obstacles avoidance</li>
<li>Sim.I.am.js</li>
</ul>
</section>
<section>
<h3>Resources</h3>
<ul>
<li><a href="https://www.coursera.org/course/conrob">Control of Mobile Robots</a></li>
<li><a href="http://pysimiam.sourceforge.net/coursera.html">Using PySimiam in Coursera course</a></li>
<li><a href="http://o-botics.org/">O'Botics</a></li>
<li><a href="sejoker.github.io/quickbot-slides">Slides</a></li>
<li><a href="https://github.com/sejoker/quickbot-five">Github repo of Quickbot-Five</a></li>
</ul>
</section>
<section>
<h2>Demo</h2>
</section>
<section>
<h3>Sensors</h3>
<iframe width="560" height="315" src="//www.youtube.com/embed/gDtbzm5FnCg" frameborder="0" allowfullscreen></iframe>
</section>
<section>
<h3>Go to goal</h3>
<iframe width="560" height="315" src="//www.youtube.com/embed/SZ2gNb8UGA8" frameborder="0" allowfullscreen></iframe>
</section>
<section>
<h2>Thanks</h2>
<a href="twitter.com/@sejoker">@sejoker</a>
</section>
</div>
</div>
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