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Short Range Object Detection and Avoidance

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Short Range Object Detection and Avoidance Short Range Object Detection and Avoidance N.F. Jansen CST 2010.068 Traineeship report Coach(es): dr. E. García Canseco, TU/e dr. ing. S. Lichiardopol, TU/e ing. R. Niesten, Wingz BV Supervisor: prof.dr.ir. M. Steinbuch Eindhoven University of Technology Department of Mechanical Engineering Control Systems Technology Eindhoven, November, 2010 Abstract The scope of this internship is to investigate, model, simulate and experiment with a sensor for close range object detection for the purpose of the Tele-Service Robot (TSR) robot. The TSR robot will be implemented in care institutions for the care of elderly and/or disabled. The sensor system should have a supporting role in navigation and mapping of the environment of the robot. Several sensors are investigated, whereas the sonar system is the optimal solution for this application. It’s cost, wide field-of-view, sufficient minimal and maximal distance and networking capabilities of the Devantech SRF-08 sonar sensor is decisive to ultimately choose this sensor system. The positioning, orientation and tilting of the sonar devices is calculated and simulations are made to obtain knowledge about the behavior and characteristics of the sensors working in a ring. Issues surrounding the sensors are mainly erroneous ranging results due to specular reflection, cross-talk and incorrect mounting. Cross- talk can be suppressed by operating in groups, but induces the decrease of refresh rate of the entire robot’s surroundings. Experiments are carried out to investigate the accuracy and sensitivity to ranging errors and cross-talk. Eventually, due to the existing cross-talk, experiments should be carried out to decrease the range and timing to increase the refresh rate because the sensors cannot be fired more than only two at a time. A ROS node is still work in progress but is subject to finish at the end of November. At this point the conclusion can be drawn that the sonar system can be a good asset in navigation and mapping the environment of the robot. 3 Traineeship Report November 17, 2010 Contents 1 Introduction 10 2 Sensors 13 2.1 Ranging techniques . 14 2.1.1 Proximity . 14 2.1.2 Triangulation . 16 2.1.3 Time-Of-Flight . 17 2.1.4 Phase Modulation . 17 2.1.5 Intensity of reflection . 18 2.1.6 Frequency modulation . 18 2.2 Sensor technologies . 19 2.2.1 Acoustical . 19 2.2.2 Optical . 21 2.2.3 Electromagnetic . 21 2.3 Candidate systems overview . 22 2.4 Discussion . 24 3 Sonar Systems 25 3.1 Sonar selection . 25 3.2 Discussion . 27 3.3 Implementation . 28 3.3.1 Cross-talk . 28 3.3.2 Refresh rate . 29 4 Simulations 30 4.1 Simulation sensor behavior . 30 4.2 Simulation robot navigation with sonar . 33 4.2.1 Kinematics of differential steering . 33 4.2.2 Results navigation simulations . 35 5 Data Acquisition 38 5.1 The physical I2Cbus...................................... 38 5.2 PC to I2C adapter . 38 5.3 Protocol and communication . 39 5.3.1 Start signal . 40 5.3.2 Slave address transfer . 40 5.3.3 Data transfer . 40 5.3.4 Stop signal . 40 5 Traineeship Report November 17, 2010 CONTENTS CONTENTS 5.4 The I2C software protocol . 41 5.5 Example communication . 42 6 Experiments 45 6.1 Sensor characteristics . 45 6.1.1 Measured straight-line distance . 45 6.1.2 Cross-talk . 47 6.1.3 Angular measurements to pole . 48 6.1.4 Maximum angle measurements to wall . 49 6.2 Sensors mounted to robot platform . 50 6.2.1 Cross-talk . 51 6.2.2 Ranging a corner . 52 6.2.3 Ranging a doorway . 53 7 Concluding Remarks and Future Work 55 Acronyms 57 References 58 A Datasheet Devantech SRF08 59 B Datasheet Parallax PING))) 76 C Additional Measurement Tables and Results 89 D USB-I2C Devantech SRF-08 commands 91 E Matlab M-Files 93 E.1 Simulations . 93 E.1.1 Calculate position and orientation sensors . 93 E.1.2 Simulation random polygon in environment robot . 97 E.1.3 Function CalcDist2Obj . 99 E.1.4 Function Drawreading . 100 E.1.5 Simulation robot navigation with sonar . 101 E.1.6 Function Drawrobot . 105 E.2 Communication with sensors . 106 E.2.1 Main sensor communication . 106 E.2.2 Function StartRanging . 108 E.2.3 Function RecDistCmSens . 109 6 Traineeship Report November 17, 2010 List of Figures 1.1 Overview of TSR setup, adapted from [10] . 10 1.2 Overview of partners . 11 2.1 Applied technologies for optical proximity sensors, adapted from [4] . 15 2.2 Triangulation techniques, adapted from [4] . 16 2.3 Phase modulation, adapted from [3] . 18 2.4 Frequency modulation, adapted from [4] . 18 2.5 Shape and Field-Of-View (FOV) of ultrasonic sensor, adapted from [12] . 20 2.6 Ultrasonic ranging errors, adapted from [4] . 20 3.1 Sensor placements and orientations . 26 3.2 Sensor placement and orientation for Senscomp Series 6000 . 26 3.3 The groups of sensors operating on the mobile platform . 28 4.1 Example of sonar object detection . 30 4.2 Circle of radius r = 1, center (a, b) = (1.2, -0.5) . 31 4.3 Sensor simulation of behavior on different objects . 32 4.4 Maps for simulation of moving mobile robot . 33 4.5 The Pioneer platform with differential steering . 33 4.6 Wheels at different velocities . 34 4.7 Simulation of mobile robot navigation throughout an office . 36 4.8 Simulation of mobile robot navigation throughout a map . 36 5.1 Overview I2C connection . 38 5.2 The PC to I2C Adapter . 39 5.3 Overview I2C communication protocol . 39 5.4 Bit transfer on I2Cbus..................................... 40 5.5 Overview order of sensors mounted to mobile robot . 43 5.6 Flow diagram of communication with sensors when ranging is issued . 43 6.1 Comparison chart of real distance to measured distance . 46 6.2 Resulting graph of cross-talk measurement . 47 6.3 Plan of angular measurement of square pole . 48 6.4 Plan of angular measurement of a wall . 49 6.5 Resulting graph of angular measurement . 50 6.6 Beam Pattern according to data sheet . 50 6.7 Overview of mobile robot platform with Devantech SRF-08 sonar sensors mounted to platform for experimental purposes . 51 6.8 Overview of robot and mounted sensors ranging the corner with wall of glass . 52 7 Traineeship Report November 17, 2010 LIST OF FIGURES LIST OF FIGURES 6.9 Results of ranging a corner with wall of glass . 53 6.10 Results of ranging a doorway . 53 8 Traineeship Report November 17, 2010 List of Tables 2.1 Candidate systems . 23 2.2 Sensors . 23 3.1 Sonar systems . ..
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