View source for Projects:2016s1-146 Antonomous Robotics using NI MyRIO


== Introduction ==


== Supervisors ==
Dr Hong Gunn Chew

A/Prof Cheng-Chew Lim

== Honours Students ==
Thomas Harms

James Kerber

Mitchell Larkin

Chao Mi

== Project Details ==
Each year, National Instruments (NI) sponsors a competition to showcase the robotics capabilities of students by building autonomous robots using one of their microcontroller and FPGA products. In 2016, the competition focuses on the theme 'Hospital of the future' where team robots will have to complete tasks such as navigating to different rooms in a hospital setting to deliver medicine while avoiding various obstacles.
This project investigates the use of the NI FPGA/LabView platform for autonomous vehicles. The group will apply for the competition in March 2016.
More information about the NI robotics competition is found at http://australia.ni.com/ni-arc
LabView programming knowledgement would be a key advantage in this project.
This project builds on the platform designed and built in 2015

== Project Proposal ==

To have a better understanding of the project and to distribute the workload amongst the team, the robot system has been broken down into the following sections:
Mechanical Construction	Artificial Intelligence (Software)	
Robot Vision and Range Finding 	
Localisation
Movement system
Hardware design and installation
Medicine dispenser unit	Pathfinding/Navigation
Control	Object detection
Mapping	Movement tracking

By creating a set of clearly defined work activities, each team member will be able to design and develop the required functionality for their respective sections.

The mechanical construction will focus on the design and assembly of the robot itself. This process will involve deciding on the robot dimensions, motors, sensors and medicine delivery system. Current research and development has been made to the movement system and a four omnidirectional wheeled approach is being prototyped. This prototype will demonstrate a robot with the ability to move in any direction easily without the need to rotate before any translation takes place.  Figure 1 shows the layout that will be used for this robot design. The mechanism for delivering the medicine units shall be similar to the design from last year’s University of Adelaide team. Figure 2 demonstrates how this medicine delivery shall work. 
The vision and range finding systems for this robot shall consist of an RGB-D camera and an array of ultrasonic sensors. The camera shall be used to implement object detection, while the sensors shall measure proximity to the surroundings. These systems in conjuncture with each other shall allow collision avoidance to be achieved. The localisation system shall be realised through the use of optical flow sensors. These sensors shall measure the direction of flow of the surface below the robot in order to quantify which direction the robot is moving, providing full localisation functionality.

The delivery system, combined with the ease of movement provided by the wheel layout, shall allow for our robot to quickly and efficiently traverse the competition track and deliver the medicine units to the required areas. The use of the mentioned sensors shall provide collision avoidance and localisation, resulting in a robot that can safely and reliably complete the goals required for the competition. In conclusion, this design aims to achieve fully autonomous behaviour in a hospital setting.

[[File:Wheel Layout.png]]


[[File:Medicine delivery system.png]]

== Current Progress ==


=== Movement System ===
[[File:4 Wheeled Setup.png]]

== References ==