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ECE191 Student Project
Title: Where is my Roomba? Indoor Position Locator System for Roomba
Sponsoring Group: Cal(IT)2
Mentor: Javier Rodriguez Molina, Cal(IT)2, firstname.lastname@example.org, (510)3961667
Don Kimball, Cal(IT)2, email@example.com
Calit2 has developed and integrated a set of wireless technologies to allow for the creation of a "wireless bubble" for use in accessing the Internet and team communication in an environment where the communications infrastructure has been damaged. CalMesh, wireless ad-hoc mesh network nodes, support 802.11b access-point functionality by inter-connecting multiple nodes to form a bridged mesh segment. CalMesh provides Internet services by using intelligent gateway nodes that support multiple cellular backhauls. The ruggedized and weatherized CalMesh nodes support GPS and are powered by batteries with a life of 12-16 hours. An extension of the CalMesh project is the "Gizmo Truck". This project consisted of building one of these CalMesh network nodes on top of a remote-controlled truck for outdoor autonomous deployment using GPS. Since GPS is not reliable inside buildings, our indoors version of the Gizmo Truck, the IRobot Roomba, is in need of a reliable navigation system which will allow us to track its location in an indoor environment given a point of origin and plot it in a map based its X and Y coordinates
The goal for this project is to create a reliable navigation system which will allow locating the Roomba inside a building given a point of origin. The team members will need to design a system from which they can obtain acceleration and direction at any point in time; these data will be used to calculate the X and Y position of the Roomba. Different approaches can used to obtain acceleration (i.e. use infrared sensors to calculate the rpm of the wheels, accelerometer sensors), as well as direction (i.e. compass, Honeywell modules). The team will need to decide which one is the best approach.
1.Identify different ways to determine acceleration and direction of the Roomba and determine optimal approach 2.Design a system that obtains acceleration and direction from the Roomba at any point in time 3.Calculate position of the Roomba based on acceleration and direction data 4.Test Navigation system design over CalMesh network
Some background in software coding in C or C++ and some experience with Linux environment. Basic skills in Matlab.
Gizmo project: http://responsphere.calit2.net/gizmo/