Wireless Communication for Mobile robots

MR. G. KALAIARASSAN, M.E. LECTURER MECHATRONICS ENGINEERING KONGUENGINEERINGCOLLEGE

Introduction to Robotics

INDUSTRIAL ROBOTS

INTRODUCTION TO MOBILE ROBOTS

Robotics has achieved its great success to date in the world of industrial

manufacturing bolted at its shoulder to specific position in the assembly line the robot arm can move with a great speed accuracy to perform the respective task such as spot welding and painting

These commercial robot suffer for a fundamental disadvantages: lack of

mobility.

A fixed manipulator has a limited range motion that depends on were its

bolted down in the case of mobile robot would be able to travel throughout the manufacturing plant

Flexible applying its talents whenever its most effective

Mobile Robots
An autonomous mobile robot knows at least some information about where it

is and how to reach various goals and or way point along them.
A mobile robot needs locomotion mechanisms that enable it to move

unbounded throughout its environment.

Cooperation of mobile robots offers redundancy and flexibility.

Locomotion of mobile robots includes localization and navigation which demands knowledge of artificial intelligence, computer algorithm, control theory and probability theory.

Mathematics
Basic knowledge on following will help us to understand the mobile robot control and coordination. Matrix Vector algebra Calculus Probability theory Computer programming

HILARE ROBOT

CAR LIKE MOBILE ROBOT

Walking robot (semi automated)

KITCHEN ROBOT

TOUR GUIDE ROBOT

FOOD TRANSPORT ROBOT

SPY ROBOT

MOBILE ROBOT SYSTEM

Knowledge, Data Base

Determining position
Position Global Map

Mission Commands

Decision making
Cognition Path Planning

Localization Map Building

Environment Local Map

Perceptio n

Raw Data

Actuator Commands

Sensing Real World Environment

Acting

Motion control

Information Extraction and Interpretation

Extracting data

Path

Path Execution

CURRENT RESEARCH
Locomotion problem Localization & Navigation Computer vision

LOCOMOTION (MOBILITY)
How can a mobile robot move unsupervised through the real world environments to fulfill its task? The first challenge is locomotion How should a mobile robot moves and what is it about a particular locomotion mechanism that makes it superior to alternative locomotion mechanism? To solve locomotion problem the mobile roboticist must understand mechanism and kinematics; dynamics and control theory

ISSUES OF LOCOMOTION
Locomotion and manipulation thus share the same core issues of stability, contact characteristics, and environmental type. Stability - number and geometry of contact points - center of gravity - static/dynamic stability - inclination of terrain Characteristics of contact - contact point/path size and shape - angle of contact - friction Type of environment - structure - medium, (e.g. water, air, soft or hard ground)

LOCOMOTION MECHANISMS USED IN BIOLOGICAL SYSTEMS.

LOCALIZATION
Localization is robot must determine its position in the environment. Challenges presents in localization is noise and aliasing.
Sensor Noise:

Sensors are the fundamental robot input for the process of perception, and therefore the degree to which sensors can discriminate the world state is critical environment.
Sensor Aliasing:

Sensor aliasing is a phenomenon that humans rarely encounter. The human sensory system, particularly the visual system, tends to receive unique inputs in each unique local state.

Navigation for multi robot system

There are two approaches leaderless approach and leader follower approach. Leader follower approach: In leader follower approach, the leader will handle a heterogeneous team with different types of sensors using communications. The leader is equipped with rich sensing capability as central figure of a robot team. The motion of system gets affected when the leader get crashed. So, to overcome this problem team member must elect the leader dynamically. Any robot that has the capability to guide the system can become a leader.

CONTD
Leader less approach:

In leader less approach, where a specific robot is not assigned to conduct the robot swarms. The motion of the group is carried based on interactions between individual group members (robot). Here the chance of system failure is less when compared to leader follower approach. If any robot from the group lacks the coordination with other robot means whole system will get collapsed.

FLOCKING
Flocking is a form of collective behavior of large number of interacting agents with a common group objective. Its emerged based on animal behaviors, biophysics and social sciences. Some flocking agents are, Bees Fishes Birds Ants Penguins When we talk about flocking, a question may arise that what kind of the problems we need to address on flocking.

CONTD
For the computational viewpoint, there are a number of fundamental questions that have inspired this work: 1. How do all robots work in distributed way? 2. How do robots in flocks perform obstacle avoidance? 3. How do robots form into a desired formation and maintain it during flocking? 4. What is the minimum assumption that needs to make robots flock? 5. What happens if some robots are crashed? by referring the q.no.5, additionally two question arises, 1. How a robot knows other robots are correct or crashed? 2.How the remaining correct robots effectively cooperate each other.

FAULT TOLERANCE
Fault tolerant is ability of the system to overcome the failure to complete the assigned task Collision avoidance To keep robot together Finding the weakest failure
Initially dead robot Crash permanent Byzantine failure Transient failure Identifying alive among crashed robots

Contd..
Some of the applications of mobile robot, Surveillance operations Satellites exploration Finding Nuclear pills in radioactive environment Exploring hazardous environment In rescue operation before and after natural catastrophe Used in onshore oil refineries

FUTURE RESEARCH DIRECTION

To avoid collision To keep the robot together To design a algorithm for finding the Initially dead robots, permanently

crashed robots, transient failure robots, byzantine failure robots among the flocks of mobile robots. The above stated are weakest failure model in mobile robots
Other failure model also avail, such as a robot can communicate with other but

it cannot move, or a robot communicate facility is failed but still can move
To investigate the weakest system model

Introduction to wireless communication in mobile robots

Communications and communication protocols play an important role in

mobile robot.
The advent of high performance wireless local area network (WLAN) and

ad-hoc networking technology at relatively low cost, their use for wireless communications among and control of mobile robots.
Multi robot system possess the capability of constructing network and

performing cooperative work.

Key driving force in the development of cooperative mobile robotic system

is their potential for reducing the need for human presence in dangerous applications.

APPLICATION
Disposal of toxic waste Nuclear power processing Military or civilian search and rescue missions, Planetary exploration Security Surveillance

EVOLUTION OF ROBOT WIRELESS COMMUNICATION

Infrared communication low data rate point-to-point link low cost

Spread spectrum communication(I SM band) pointto-point link or broadcast

Spread spectrum, high data rate, long distance multiple network structure

Wireless communication technologies for mobile robots

SYSTEM COMPOSING OF ROBOT

COMMUNICATION STRUCTURE

MESSAGES FROM A ROBOT TO CENTRAL STATION

MESSAGES FROM CENTRAL STATION TO A ROBOT

COMMUNICATION NETWORK
The robots are often equipped with

low-power short-range wireless network interfaces

which only allow direct communication with near neighbours

WLAN- Network that needs some base towers Ad-hoc-Network is an infrastructure less network where the

nodes themselves are responsible for routing the packets

Cont..
Mobile nodes communicate with each other using multi hop

wireless links
There is no stationary infrastructure e.g., no base stations. Each node in the network also acts as a router Forwarding data packets for other nodes. Topology in such a network can be

highly dynamic traditional routing protocols can no longer be used

Mobile Ad Hoc Networking (MANET)

MANET is the collection of mobile nodes which form a

temporary network. The network has dynamic and unpredictable topology

Protocols can be broadly categorized into

Proactive protocols Reactive protocols

Cont..
Proactive protocols(up to date routing information for each node)
Destination-Sequenced Distance-Vector Routing protocol (DSDV) Link-State Routing (LSR)

Reactive protocols(protocols create routes only when desired)

On-Demand Distance Vector Routing (AODV) Dynamic source routing(DSR) (uses source routing rather than hop by hop) Labeled distance routing(LDR) Feasible label routing (FLR) Sensors enabled events routing architecture (SEERA)

Mobile robot networking layered model

Parameters for single robot coordination

Ri

- The robot with rank number i, (i.e i is 1,2,3.n)

SCurPosObser - The set of position of robots at current

activation SPrePosObser - The set of observed position of robots at previous activation Nact - The number of activation of some robot
D Scorrect

- Distance between the robots - The set of position of correct robots

MOBILE ROBOT SOFTWARES

WEBOT PLAYER/ STAGE/ GAZEBO

The most popular research robots are Active media robotics K-Team SA I Robo EBUG

REFERENCES
Introduction to Autonomous Mobile Robots by Roland Siegwart and Illah R.

Nourbakhsh ,A Bradford Book, The MIT Press, Cambridge, Massachusetts London, England Introduction to AI Robotics by Robin R. Murphy, A Bradford Book, The MIT Press, Cambridge, Massachusetts, London, England

THANK YOU