HRBE: Holonomic Robot Bluetooth Environment
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Uploaded by kekiefer on Apr 9, 2008
Video of UCSB final B.S. Computer Engineer project (ECE 189) in Spring 2006. Team members Zach Davis, Kevin Deegan, Kurt Kiefer, and Don Shelton created these Bluetooth remote controlled holonomic robots. Mounted underneath the robots are two LED optical sensors (Agilent optical mouse sensors) that provide real-time positional feedback. The control environment is written in C++ on the Linux platform, leveraging the open source QT UI libraries. Each robot has two higher-end PIC processors, one for handling the bluetooth HCI and higher level communication protocols and motion control, and the other for reading optical position data. Multiple HRBEs can be controlled simultaneously, either through a series of commands from a custom scripting language, using buttons on the UI, or using a 3-axis joystick.
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Uploader Comments (kekiefer)
All Comments (5)
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I think the music enhances the video -- dramatizes what the robot is doing.
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Pretty awesome project. Was curious though, were the Agilent sensors consistent in their measurements? Was the robot where they reported it to be?
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whats with the random music? kinda distracted me
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Kickass...I can't imagine it all got done in a single term, was it a year-long project course?
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were all of these people computer engineer undergrad
roaringriku 2 years ago
yes
kekiefer 2 years ago
You can see in the first shot that moving the robot over one area on the table did provide some varied readings -- this was also a bad table for optical mice. Our rig to keep the height of the sensors consistently within the range that they'll accept worked reasonably well in an empirical sense (we were able to roughly calculate position and rotation), but we didn't perform any measurements of their accuracy, nor did we attempt to utilize the sensors as part of a closed loop feedback system.
kekiefer 3 years ago
Thanks for the props. Especially since UCSB is on a quarters system, there's no way we could have done this in a single quarter. We had about 10 weeks to do the design, schematics, and board layout. In the next 10 weeks we waited for boards to be spun and populated and started some of the initial software work. In the final 10 weeks we did the rest of the software and did all the systems integration.
kekiefer 3 years ago