How to build Open Hardware self-navigating car robot

How to build Open Hardware Robotwith Arduino, RaspberryPi and Hot Glue

Tomáš Jukin@Inza

www.juicymo.cz@JuicymoCZ

#Probee

True evolution…

True evolution…GDG ohwHack 2014 mDevCamp 2016

Robotics 101

Micro-Computervs.

Micro-Controller

Robotics 101

Micro-Computervs.

Micro-Controller

Robotics 101

Micro-Computervs.

Micro-Controller

Robotics 101

Micro-Computervs.

Micro-Controller

Voltage: 3.3V Flash: SD card RAM: 512 MB (CPU & GPU) CPU: ARM11 (BCM2835 SoC) Clock: 700 MHzGPIO: 40 pin HDMI, Ethernet

RaspberryPi 1 B+

Arduino UNO

Voltage: 5V Flash: 32KB (-0.5 bootloader) SRAM: 2KB EEPROM: 1KB Clock: 16 MHzDigital I/O: 14/6 PWM Analog In: 6

Robotics 101ways of communication

Robotics 101IIC (i2c, I2C, I2C)Inter-Inter Circuit, 2 wires, <128 devices, <2m

ways of communication

Serial Peripheral Interface, N+3 wires, N devicesSPI

Serial Peripheral Interface, N+3 wires, N devices

Universal Asynchronous Receiver/Transmitter, 2 wires, 2 devices, <20m

Full Serial Line, 9 wires, 2 devices, <20mRS-232 (COM port)

Industry, 2 wires, <32 devices, <1200mRS-485 (EIA-485)

Serial Peripheral Interface, N+3 wires, N devicesSPI

Industry, 2 wires, <32 devices, <1200mRS-485 (EIA-485)

What does a4 wheels self driving car robotconsist of?

1x RaspberryPi 1 B+ Starter Set https://goo.gl/jaTY70

1x Chinese 4WD Car Kit with Funduino UNO http://goo.gl/qetuW5

5x Ultrasonic Sensor HC-SR04 http://goo.gl/YojTTp

1x Wi-Fi dongle D-Link DWA-127 https://goo.gl/9d9BPo

1x Arduino Micro https://goo.gl/yjVqgC

1x I2C Level Converter http://goo.gl/9i4jCK

1x RTC module DS1307 http://goo.gl/esKm7t

1x PIR sensor HC-SR501 http://goo.gl/LyYGmb

1x 4D Touch TFT Display 4DPi-35 Rev. 1 http://goo.gl/RWs7rI

1x Skewers

1x Hot Glue

*plus PiCamera and PowerBank to power Pi… (and cables)

http://goo.gl/tnXteh

The Idea

PWM12V

I2CUSB

PWM12V

I2C PWM

PWM12V

I2C PWM

PWM12V

I2C PWM

PWM12V

I2C PWM

PWM12V

5V USB 7V

5V3.3V

The Heart

Hardware

The Heart

Hardware

The Heart

Hardware

Events

The Heart

Hardware

Events

Pre-Emptive Multi-Tasking

The Heart

Hardware

Events

Pre-Emptive Multi-Tasking Config

How do we develop in Arduino?

Wiring / Processing

C / C++

5 Circles of Hell

5 Circles of Hellin Arduino

.ino includes

.ino includesLCD_i2c.h

.ino includesLCD_i2c.hCrappy China goods

.ino includesLCD_i2c.hCrappy China goodsHW bugs

.ino includesLCD_i2c.hCrappy China goodsHW bugsThe need of switch

The Heart

v0 - Procedural (by MacGyver on ohwHack)

The Heart

The Heartv0.5 - “Spagetka” (was to ugly to Git -> lost :-(…)

The Heartv0.5 - “Spagetka” (was to ugly to Git -> lost :-(…)v1 - “Spagetti MAS” (in Git repo)

The Heartv0.5 - “Spagetka” (was to ugly to Git -> lost :-(…)v1 - “Spagetti MAS” (in Git repo)v2 - “The Platform” (in Git repo, in progress)

https://github.com/Juicymo/probee

http://goo.gl/lZuAzn

https://goo.gl/OhNByp

https://goo.gl/QzYRjs

https://goo.gl/lG0ggl

The Brain

How do we develop for RaspberryPi?

In Ruby

But not only. It is a full featured* Linux.

*running on ARM… :-(

5 Circles of Hell

5 Circles of Hellin RaspberryPi

USB driven computer

USB driven computerUnstable

USB driven computerUnstableMore features madness

USB driven computerUnstableMore features madnessWi-Fi dongle

USB driven computerUnstableMore features madness

Unstable!!!Wi-Fi dongle

Multi-Agent System

The Brainbuild on aActor-based concurrentobject framework in Ruby

The Brain

Raspbian

The Brain

Raspbian

The Brain

Raspbian

The Brain

Raspbian

celluloid

The Brain

Raspbian

celluloid

The Brain

Raspbian

celluloid

probee MAS

The Brain

Raspbian

celluloid

probee MAS

https://rubygems.org/gems/agens

https://github.com/celluloid/celluloid

https://rvm.io

The Brain

ObjectRuby OOP

The Brain

Object

Ruby OOP

Celluloid

The Brain

Object

Ruby OOP

Celluloid

The Brain

Object

Ruby OOP

Celluloid

The Brain

Object

MovementAgent

Ruby OOP

Celluloid

probee

The Brain

MovementAgent

Probee MAS

The Brain

Motors

MovementAgent

Probee MAS

The Brain

Motors

SteeringAgent

MovementAgent

Probee MAS

The Brain

Motors

SensorsSteeringAgent

MovementAgent

Probee MAS

The Brain

Motors

Sensors

CollisionAgent

SteeringAgent

MovementAgent

Probee MAS

The Brain

Motors

Sensors

CollisionAgent

SteeringAgent

MovementAgent

Probee MAS

The Brain

Motors

Sensors

CollisionAgent

SteeringAgent

MovementAgent

Probee MAS

Simple Agents can perform complex tasks

The Brain

How to make AI LogicScripting

HFSM HeuristicsMAS GA ANN

Movement FSMStop Drive Slowly Drive Fast

Turn Turret FSMStop Scan Target

How to combine them??

How to combine them??Modularity sucks too…

Behavior Trees

http://aigamedev.com/open/article/bt-overview/

http://behavior3js.guineashots.com/

http://aigamedev.com/open/article/behavior-trees-part1/

Neural Nets

Behavior Trees

https://github.com/Inza/agenshttps://en.wikipedia.org/wiki/Multi-agent_system

https://github.com/aasm/aasmhttps://en.wikipedia.org/wiki/Finite-state_machine

https://github.com/Maumagnaguagno/HyperTensioNhttps://en.wikipedia.org/wiki/Hierarchical_task_network

https://github.com/jvoegele/behavior_treehttps://en.wikipedia.org/wiki/Behavior_tree

https://github.com/SergioFierens/ai4rhttps://en.wikipedia.org/wiki/Artificial_neural_network

Questions?

Tomáš Jukin@Inza

www.juicymo.cz@JuicymoCZ

How to build Open Hardware self-navigating car robot

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