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Fully Autonomous Robot

BuckGup
By BuckGup
in Hobby Electronics
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For an upcoming project I need to make a fully autonomous robot that can drive, do some tasks, all while avoiding obstacles and other robots. Yes I know it isn't a walk in the part but I have some people helping. I was thinking I would use LiDAR for a 2D map of the surrounding area. Then for 3D and range detection I could use a kinect. The hard part is allowing all of these to talk to each other and identify as it goes what is what. There could also be some machine learning as someone I know has some skills in that area. Any ideas on where to start? Any pre existing programs?

▓ƆԀ▓ S▓₱▓Ɇ▓c▓s▓: i7 6ʇɥפᴉƎ00K (4.4ghz), Asus DeLuxe X99A II, GT҉X҉1҉0҉8҉0 Zotac Amp ExTrꍟꎭe),Si6F4Gb D???????r PlatinUm, EVGA G2 Sǝʌǝᘉ5ᙣᙍᖇᓎᙎᗅᖶt, Phanteks Enthoo Primo, 3TB WD Black, 500gb 850 Evo, H100iGeeTeeX, Windows 10, K70 R̸̢̡̭͍͕̱̭̟̩̀̀̃́̃͒̈́̈́͑̑́̆͘͜ͅG̶̦̬͊́B̸͈̝̖͗̈́, G502, HyperX Cloud 2s, Asus MX34. פN∩SW∀S 960 EVO

Just keeping this here as a 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hackaday has a ton of robotic projects, heres one:

https://hackaday.io/project/9072-open-autonomous-domestic-robots

 

what about positioning sensors? is GPS going to be accurate enough? its possible that an android phone could do this very cheaply.

There was a project i saw a while back, but i cant remember its name. It used simple cameras with infrared sensors positioned just like what modern VR does. the robot had an infrared light on it and the cameras could accurately map out where the robot had been better than using radiowaves. Obviously with light there are limitations with line of sight but you can do all sorts of interesting things like see where the other robots are and paint a grid of invisible light for positioning

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29 minutes ago, SCHISCHKA said:

hackaday has a ton of robotic projects, heres one:

https://hackaday.io/project/9072-open-autonomous-domestic-robots

 

what about positioning sensors? is GPS going to be accurate enough? its possible that an android phone could do this very cheaply.

There was a project i saw a while back, but i cant remember its name. It used simple cameras with infrared sensors positioned just like what modern VR does. the robot had an infrared light on it and the cameras could accurately map out where the robot had been better than using radiowaves. Obviously with light there are limitations with line of sight but you can do all sorts of interesting things like see where the other robots are and paint a grid of invisible light for positioning

I would have to look into GPS more but I hadn't thought about that aspect of it yet.

▓ƆԀ▓ S▓₱▓Ɇ▓c▓s▓: i7 6ʇɥפᴉƎ00K (4.4ghz), Asus DeLuxe X99A II, GT҉X҉1҉0҉8҉0 Zotac Amp ExTrꍟꎭe),Si6F4Gb D???????r PlatinUm, EVGA G2 Sǝʌǝᘉ5ᙣᙍᖇᓎᙎᗅᖶt, Phanteks Enthoo Primo, 3TB WD Black, 500gb 850 Evo, H100iGeeTeeX, Windows 10, K70 R̸̢̡̭͍͕̱̭̟̩̀̀̃́̃͒̈́̈́͑̑́̆͘͜ͅG̶̦̬͊́B̸͈̝̖͗̈́, G502, HyperX Cloud 2s, Asus MX34. פN∩SW∀S 960 EVO

Just keeping this here as a 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31 minutes ago, SCHISCHKA said:

hackaday has a ton of robotic projects, heres one:

https://hackaday.io/project/9072-open-autonomous-domestic-robots

 

what about positioning sensors? is GPS going to be accurate enough? its possible that an android phone could do this very cheaply.

There was a project i saw a while back, but i cant remember its name. It used simple cameras with infrared sensors positioned just like what modern VR does. the robot had an infrared light on it and the cameras could accurately map out where the robot had been better than using radiowaves. Obviously with light there are limitations with line of sight but you can do all sorts of interesting things like see where the other robots are and paint a grid of invisible light for positioning

Do you know what Tesla uses? Obviously it isn't LiDAR as they don't have a spinning dome on top. I know some other cars have similar auto pilot modes that can identify street signs, cars, lines, all in a very small amount of time. I was thinking the Jetson X1 for processing and if that isn't enough then maybe an on board computer with a GPU or two. The robot is also very large. 30inX40in and can weigh around 120lbs.

▓ƆԀ▓ S▓₱▓Ɇ▓c▓s▓: i7 6ʇɥפᴉƎ00K (4.4ghz), Asus DeLuxe X99A II, GT҉X҉1҉0҉8҉0 Zotac Amp ExTrꍟꎭe),Si6F4Gb D???????r PlatinUm, EVGA G2 Sǝʌǝᘉ5ᙣᙍᖇᓎᙎᗅᖶt, Phanteks Enthoo Primo, 3TB WD Black, 500gb 850 Evo, H100iGeeTeeX, Windows 10, K70 R̸̢̡̭͍͕̱̭̟̩̀̀̃́̃͒̈́̈́͑̑́̆͘͜ͅG̶̦̬͊́B̸͈̝̖͗̈́, G502, HyperX Cloud 2s, Asus MX34. פN∩SW∀S 960 EVO

Just keeping this here as a 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44 minutes ago, SamStrecker said:

Do you know what Tesla uses? Obviously it isn't LiDAR as they don't have a spinning dome on top. I know some other cars have similar auto pilot modes that can identify street signs, cars, lines, all in a very small amount of time. I was thinking the Jetson X1 for processing and if that isn't enough then maybe an on board computer with a GPU or two. The robot is also very large. 30inX40in and can weigh around 120lbs.

I think they use lasers for distance measurement. Im not sure if they use cameras like google, but I imagine they do to see road markings

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ψ ︿_____︿_ψ_   

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Just now, SCHISCHKA said:

I think they use lasers for distance measurement. Im not sure if they use cameras like google, but I imagine they do to see road markings

Do you think they are class 1 lasers? You know what let me just go ask Tesla. Sounds funny but I will report

▓ƆԀ▓ S▓₱▓Ɇ▓c▓s▓: i7 6ʇɥפᴉƎ00K (4.4ghz), Asus DeLuxe X99A II, GT҉X҉1҉0҉8҉0 Zotac Amp ExTrꍟꎭe),Si6F4Gb D???????r PlatinUm, EVGA G2 Sǝʌǝᘉ5ᙣᙍᖇᓎᙎᗅᖶt, Phanteks Enthoo Primo, 3TB WD Black, 500gb 850 Evo, H100iGeeTeeX, Windows 10, K70 R̸̢̡̭͍͕̱̭̟̩̀̀̃́̃͒̈́̈́͑̑́̆͘͜ͅG̶̦̬͊́B̸͈̝̖͗̈́, G502, HyperX Cloud 2s, Asus MX34. פN∩SW∀S 960 EVO

Just keeping this here as a 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2 minutes ago, SamStrecker said:

Do you think they are class 1 lasers? You know what let me just go ask Tesla. Sounds funny but I will report

you might have to sift through their patents

             ☼

ψ ︿_____︿_ψ_   

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1 minute ago, SCHISCHKA said:

you might have to sift through their patents

Well I found an answer. Not really detailed enough to do anything but it does give me an idea on how they don't need LiDAR.

Quote

Eight surround cameras provide 360 degrees of visibility around the car at up to 250 meters of range. Twelve updated ultrasonic sensors complement this vision, allowing for detection of both hard and soft objects at nearly twice the distance of the prior system. A forward-facing radar with enhanced processing provides additional data about the world on a redundant wavelength that is able to see through heavy rain, fog, dust and even the car ahead.

 

▓ƆԀ▓ S▓₱▓Ɇ▓c▓s▓: i7 6ʇɥפᴉƎ00K (4.4ghz), Asus DeLuxe X99A II, GT҉X҉1҉0҉8҉0 Zotac Amp ExTrꍟꎭe),Si6F4Gb D???????r PlatinUm, EVGA G2 Sǝʌǝᘉ5ᙣᙍᖇᓎᙎᗅᖶt, Phanteks Enthoo Primo, 3TB WD Black, 500gb 850 Evo, H100iGeeTeeX, Windows 10, K70 R̸̢̡̭͍͕̱̭̟̩̀̀̃́̃͒̈́̈́͑̑́̆͘͜ͅG̶̦̬͊́B̸͈̝̖͗̈́, G502, HyperX Cloud 2s, Asus MX34. פN∩SW∀S 960 EVO

Just keeping this here as a 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37 minutes ago, SamStrecker said:

Well I found an answer. Not really detailed enough to do anything but it does give me an idea on how they don't need LiDAR.

 

So what kind of obstacles or what kind of robot are you trying to make?

Im suggesting look for an opensource vacuum cleaner coz you havnt really given a scope.

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49 minutes ago, SCHISCHKA said:

So what kind of obstacles or what kind of robot are you trying to make?

Im suggesting look for an opensource vacuum cleaner coz you havnt really given a scope.

It changes from year to year as it is a competition. Generally speaking there will be a moveable object that your robot will need to either interact with to complete a task or avoid to not cause conflict. There will also be various obstacles including other fast moving robots.

Stuff like this

 

▓ƆԀ▓ S▓₱▓Ɇ▓c▓s▓: i7 6ʇɥפᴉƎ00K (4.4ghz), Asus DeLuxe X99A II, GT҉X҉1҉0҉8҉0 Zotac Amp ExTrꍟꎭe),Si6F4Gb D???????r PlatinUm, EVGA G2 Sǝʌǝᘉ5ᙣᙍᖇᓎᙎᗅᖶt, Phanteks Enthoo Primo, 3TB WD Black, 500gb 850 Evo, H100iGeeTeeX, Windows 10, K70 R̸̢̡̭͍͕̱̭̟̩̀̀̃́̃͒̈́̈́͑̑́̆͘͜ͅG̶̦̬͊́B̸͈̝̖͗̈́, G502, HyperX Cloud 2s, Asus MX34. פN∩SW∀S 960 EVO

Just keeping this here as a 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You have an FRC team? Lucky bastard, my school can barely afford an FTC team.

ASU

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Can you link the rules or give us a better idea of the task and environment the robot will face? From what I've seen of FRC the autonomous portion is only 15 seconds or so at the start of the match. Lidar and gps is overkill for 15 seconds. Dead reckoning will work just as well.

 

I saw this the other day. It has some good information on how mobile autonomous systems work. https://hackernoon.com/ghost-my-plan-to-race-an-autonomous-rc-car-46a4b7f093cd

Edited by Silverwolf_7
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26 minutes ago, Hackentosher said:

You have an FRC team? Lucky bastard, my school can barely afford an FTC team.

Well our funding isn't crazy and we have about 20 kids and only 4 show up and do stuff. Our school also doesn't recognize it as a school event so they don't give us buses or allow us to put awards in the trophy case. 

15 minutes ago, Silverwolf_7 said:

Can you link the rules or give us a better idea of the task and environment the robot will face? From what I've seen of FRC the autonomous portion is only 15 seconds or so at the start of the match. Lidar and gps is overkill for 15 seconds. Dead reckoning will work just as well.

You are correct that it is only 15 seconds but it is the next 2 minutes afterwards that will be fully autonomous.

▓ƆԀ▓ S▓₱▓Ɇ▓c▓s▓: i7 6ʇɥפᴉƎ00K (4.4ghz), Asus DeLuxe X99A II, GT҉X҉1҉0҉8҉0 Zotac Amp ExTrꍟꎭe),Si6F4Gb D???????r PlatinUm, EVGA G2 Sǝʌǝᘉ5ᙣᙍᖇᓎᙎᗅᖶt, Phanteks Enthoo Primo, 3TB WD Black, 500gb 850 Evo, H100iGeeTeeX, Windows 10, K70 R̸̢̡̭͍͕̱̭̟̩̀̀̃́̃͒̈́̈́͑̑́̆͘͜ͅG̶̦̬͊́B̸͈̝̖͗̈́, G502, HyperX Cloud 2s, Asus MX34. פN∩SW∀S 960 EVO

Just keeping this here as a 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12 minutes ago, SamStrecker said:

Well our funding isn't crazy and we have about 20 kids and only 4 show up and do stuff. Our school also doesn't recognize it as a school event so they don't give us buses or allow us to put awards in the trophy case. 

My university doesn't really recognize our robotics team either. We're considered a club so we have to appeal every year for funding from the student senate. At least we're allowed to display our awards and robots in the engineering building. Have you looked into grants or fundraisers? With only 4 active members I know it's hard to take on extra work but the experience will be worth it.

 

Back to the robot. Is there a certain controller or computer that it has to use?

 

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50 minutes ago, Silverwolf_7 said:

My university doesn't really recognize our robotics team either. We're considered a club so we have to appeal every year for funding from the student senate. At least we're allowed to display our awards and robots in the engineering building. Have you looked into grants or fundraisers? With only 4 active members I know it's hard to take on extra work but the experience will be worth it.

 

Back to the robot. Is there a certain controller or computer that it has to use?

 

Everything is fair game but they suggest the Jetson TX2 as it is specifically designed for this type of work and has a very large community willing to help.

▓ƆԀ▓ S▓₱▓Ɇ▓c▓s▓: i7 6ʇɥפᴉƎ00K (4.4ghz), Asus DeLuxe X99A II, GT҉X҉1҉0҉8҉0 Zotac Amp ExTrꍟꎭe),Si6F4Gb D???????r PlatinUm, EVGA G2 Sǝʌǝᘉ5ᙣᙍᖇᓎᙎᗅᖶt, Phanteks Enthoo Primo, 3TB WD Black, 500gb 850 Evo, H100iGeeTeeX, Windows 10, K70 R̸̢̡̭͍͕̱̭̟̩̀̀̃́̃͒̈́̈́͑̑́̆͘͜ͅG̶̦̬͊́B̸͈̝̖͗̈́, G502, HyperX Cloud 2s, Asus MX34. פN∩SW∀S 960 EVO

Just keeping this here as a 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