This paper presents an approach which uses an omni–directional robot for indoor use. The use of the omni-directional robot describes a ‘no head no tail’ robot. This will reduce movement recovery in time and space. In additions its mechanism makes it possible to run as a reactive robot without any complex programming. This robot is designed to use an algorithm control (reactive) based on the vision control system. The aim of this project is to design an indoor mobile robot for jogging partner operation

Abd. Razak, Norazlina

Karpayah, Puvendran

Khamis, Noorli

Mohamed, Azizan

Sabikan, Sulaiman

Zakaria, Shahrudin

English

Universiti Teknikal Malaysia Melaka (UTeM) Repository

OMNI DIRECTIONAL INDOOR MOBILE ROBOT Shahrudin Zakaria faculty of Electrical Eng., KUTKM Locked Bag 1200 Sulaiman Sabikan Faculty of Electrical Eng., KUTKM Locked Bag 1200 Azizan Mohamed Faculty of Electrical Eng., KUTKM Locked Bag 1200 Air Keroh , Melaka 606-5552297 Air Keroh, Melaka 606-5552239 Air Keroh , Melaka 606-5552279 shahrudinzakaria@kutkm.edu.my sulaiman@kutkm.edu. my azizan@kutkm.edu.my Norazlina Abd. Razak CAS,KUTKM Locked Bag 1200 Air Keroh, Melaka 606-5552260 Noorli bt Khamis CAS, KUTKM Locked Bag 1200 Air Keroh, Melaka 606-5552097 Puvendren Karpayah Faculty of Electrical Eng. , KUTKM Locked Bag 1200 Air Keroh, Melaka 606-5552297 norazlina@kutkm.edu .my noorli@kutkm.edu.my puven@kutkm.edu.my ABSTRACT ' his paper presents au approach. wh ich uses nn omni -directional robot for indoor use. The use of the omni-directional rob t describes a ·no hcnd no lair robot. This will reduce 1110Ycment recovery in time and spnce. In addirion . its mechani sm makes it possible to nm as o rimcti1'e robot without any omplex pro ramming. This robot is dcsig11ed lo use 1111 algorithm cor1trol (reactive) bused on the isio11 control system. The ai111 of this project is to design an indoor mobile robot for jogging pai1ner operation . Keywords Omni-directional , 111obile robot, mechatronics, .logging Partner. 1. INTRODUCTION This paper is motiva ted by a unique robot made by the Manipulalion Lab, Robotics Institute in Camegie Mellon University. The robot is then licensed to a company called Acroname, Inc. for marketing purposes [l). The robot is named Palm Pilot Robot Kit (PPRK). The Omni-directional robot is required in order to make fast moves in rotations. In the previous work, the omni-directional special wheel is used by PPRK robot. The simple concept of it is shown in Figure I. (a) D1·iveA (Main) Main shati Drive B (SlaYe) x - axis Drive q Figure I. Wheel configuration y - axis ... Driver 166 The ' heel s are produced by North American Roller Products (\\\\W.unrp-tnqx>. ·om) through Acronnrue and Mr. R bot company. Perpendicu lor to the movement or the main wheel. there ar,;1 snwll sln vc wh~l ·. Th c .small wheels allow the 111ovemc11t o f the 111a i11 whe-01 perpendr ulnr (90 degr~) to the Jct) or right ns in rigurc l (n). The ' heel i ~ o sent bled to 1he body of the robo1 in the orie11 tat ion of trinngulnr pa ttem as in Figure I (b) . The con tro l of the f(lb l is quite complex. and it requires kinemotit:S rn1ol. · ·i 10 11ndcrs1::md and co111ml ir s direction . Ir you \VOJ1t 'lo go lo 1111y direction. )'011 ha ve to drive the \ heel (figure 2(b)) lo that direction (Figure 2(c)): then you can drive the otlr r lwo wheels synch ronously. (two lu to · lrn ve t dri ve sinnrl taneousl)•) us in f-igurc 2(d). (a) (b) 0 (c) (d) Figure 2. Direction control 2. SIMPLER MODEL PPRK has several disndvnntngcs, which ore: • Complex wheel design • Complex algorithm for movement • Gap in wheel structure (will result in image vibration) The alternative design is made as simple as possible, but it bas the characteristics of an omni-directional control drive. To meet all the necessary requirements, the undertaken strategies are : l. Simple mechanism 2. Avoid the use of reverse or backward movement 3. No need to go forward for "head of robot' 4. Simple operation of control strategy 5. Smooth operation for vision Slave wheel Figure 3 Drive A: Angle Control Drive B: Directional control The result of this simpler concept is as in Figure 3. After about a few months, the final robot mechanism built is as in Figure 4. (a) Figure 4. (a)lnside. (b)Moving robot We have decided to focus on simpler mechanism first, in order to implernent jogging partner robot. This is due to simplicity and stra ight fo rward mechanism relative to OMNI directional vision system. If this phase success, focus can be made on 3 wheels or4 wheels OMNI directional control. Basic or correlation of OMNI directional vision system and OMNI directional motion have to be st:u dy at the first place. 3. ADV ANT AGES OF OMNI & PROJECT DEVELOPMENT T he omni directionalily f a motorized wheeled platfonn is a dream of uumy robot ics engineers: indeed. to move Creel ' on the floor. implies carryi ng out 3 distinct mo"ernents i11depcndentl : longitudinal trunslnti o11. ide Lrnnsla tion uud self rc>talion corresponding to the orientation [4). For an example, in the case of corner problems, there an: two possible movements. Like in the test drive pad in Figure 5(a), in 167 the situation of the upper-left corner. the I ath conlrol can be as in (b) or (c). In (c), the path is considered successfol. bllt there is a possibility that it gets tuck at the comer limit. Conseque111ly, the control of the omni-directional robot cllll be easily moved to the right (b ) . (a) (b) Figure 5 (c) When comparing the conventional two drive motor mobile robot operations, it can be said that whenever it gets snick in a comer, it has 10 mnke a reverse operation (border constraint - Figure 6(b)). Omni-directional r bot will eliminate/reduce reverse technique as much as possible. (a) (c) Figure 6 The first problem encountered in building such a robot is that the 'slave' wheel tends to drive the robot in a 'slave' direction . According to the plan, the slave must be passive in giving response to the control wheel. Then, by changing to the omni-directional slave wheel and adding more slave wheels, the effect is minimum. The stage of this research is still iu its early development, but it introduces the concept of 'No head No tail' Mobile Robot. Any directions can be considered the head; this strategy makes it responds quickly to the task given as following the path guide as in Figure 6( c ). The use of PPRK forces to rotate the body of the robot; this is different in design as in Figure 6(c). The robot does not have to rotate; only the wheel is planned to find out its new way of direction. Our mobile robot has to select omni-directional mechanism due to our guidance control scheme designed. For now, the camera is attached to the direction of the wheel; therefore, every time the robot changes its direction, the camera is also moved to the new direction (Figure 7). Camera Wheel Figure 7 For the control system as in Figllre 8. tbe iniage is already in a normal fonnat. Hence. it is easier to process the images and 1110yem ents Wireless Camera RF controller Angle l\[ovement COMPUTER Figure 8 Matrox software planned to be used lo process the images. VB for olgorithrn co11tml. The other step, the Omni-Directional Vision (ODY) s\'sle111. is proposed to be implem ented in the Omni-direi.:tional robot. In this ease. the camera is pointed up as in Figure ')(a) A special reflected mirror is used above the camera as in Figure 9(b ). r.onic C'Sllllf'::f'fl (b) Figure 9. (:.i) Pointing up Camera. (b) Conic reflected minor. Our early research on this teclrnique can be seen in Figu1'e 10. It is not a curved image. but a surrounded image. The Conformal Mapping can be used in re-mapping the image taken by the camera [2]. The expansion oJ view angle of the camera will result more stable vision matching in the view-based navigation [J j. (b) Figure l 0. (a) ODV sys!ern . (b) Image taken . If the conic is perfect, then ccmformal mapping: " = I z I ~ ie, (E quation l) (Equation 2) (Equation J) 168 9, =tan-I (y/x) The challenge port is lo process the real images, this is due to 11011-linearit) in images The objective of this project is to produce the final operation as in Figu1e 11 . The object represents people who might present in the robof s vision scope. (a) Robot stops. (c) Two Object are detected at the rear: robot mo\·es forward. (e)Object are out of scope: robot stops Figure 11 4. CONCLUSION ~ 0 (b) Object is detected at the rear: robot moves forward . (d) Obstacle is found: robot moves 111 betw<:e11. (f) Object are detected - opposite way; robot moves other direction. In this simple paper, we merely pro\ide the development of the ODV robotics project . It describe the early state of Jogging Partner Robot design (service robot) and the direction of the project. Tlrns can boost up motivation among our team . For further details regarding the project and multi agent ODV robotics project, readcr(s) can contact the researchers . For those who are interested. the position of Research Assistant (RA) or Research Officer (RO) in K UTKM can be arranged and offered in relation to this paper. We are waiting for any candidates to join us . 5. REFERENCES [ l] Kevin Mttkhar. Dave Johnson, The ultimate Palm Robot, McGraw-Hill. 2003 [2] Abd. Razak Norazlina. Conformal Mapping Application of Conformal Mapping !11 Image Processing Fo1· Face Recognition System. UTM Thesis, 2004. r3J Akihiro MATSUMOTO. Gosuke YOSHiTA. !snmu KMANA. proceedings ofthe 5 · IEEE Intenwtionnl Symposium on Assembly and Task Planning. 2003 l4J Gilles Mourioux, Cyril Novales. Gerard Poisson and Pierre Vieyres, Omni-direction:.il robot wilh sphel'ical orthogonal wheels: concepts and analyses, Proc. of the 2006 IEEE International Conference on Robotics and Automation , 2006 . (5] Jefri Efendi Mohd Salih, Sazali Yaacob, Mohd Rizon Mohd Juhari, Omni-Directional Mobile Robot with Mecanum wheel, I st International Workshop on Artificial Life and Robotics, 2005 . 169 [6] Takayuki Ohnishi, Kunikatsu Takase, Guidance System for Omnidirectional Power Wheelchair -Integration of Manual Input and Automatic Control , Proc. of IFAC Intelligent Autonomous Vehicles, 2001 . 

Omni Directional Indoor Mobile Robot

http://eprints.utem.edu.my/id/eprint/20187/1/Omni%20Directional%20Indoor%20Mobile%20Robot.pdf

Omni Directional Indoor Mobile Robot

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