How to build Open Hardware self-navigating car robot

Slides from my lecture at mDevCamp Prague 2016 about How to build a Open Hardware self-navigating car robot #Probee using RaspberryPi and Arduino, Multi-Agent Systems and actor programming in Ruby.

The presentation includes small overview of few AI techniques and a short introduction to Behavior Trees.

Source codes of the #Probee robot can be found at https://github.com/Juicymo/probee

Transcript

1. How to build Open Hardware Robot with Arduino, RaspberryPi and Hot Glue Tomáš Jukin @Inza
4. Tomáš Jukin @Inza www.juicymo.cz @JuicymoCZ
12. #Probee
19. True evolution…
20. True evolution… GDG ohwHack 2014 mDevCamp 2016
21. True evolution… GDG ohwHack 2014 mDevCamp 2016
22. Robotics 101
23. Robotics 101 Micro-Computer vs. Micro-Controller
24. Robotics 101 Micro-Computer vs. Micro-Controller
25. Robotics 101 Micro-Computer vs. Micro-Controller
26. Robotics 101 Micro-Computer vs. Micro-Controller Voltage: 3.3V Flash: SD card RAM: 512 MB (CPU & GPU) CPU: ARM11 (BCM2835 SoC) Clock: 700 MHz GPIO: 40 pin HDMI, Ethernet RaspberryPi 1 B+ Arduino UNO Voltage: 5V Flash: 32KB (-0.5 bootloader) SRAM: 2KB EEPROM: 1KB Clock: 16 MHz Digital I/O: 14/6 PWM Analog In: 6
27. Robotics 101 ways of communication
28. Robotics 101 IIC (i2c, I2C, I2C) Inter-Inter Circuit, 2 wires, <128 devices, <2m ways of communication
29. Robotics 101 IIC (i2c, I2C, I2C) Inter-Inter Circuit, 2 wires, <128 devices, <2m ways of communication Serial Peripheral Interface, N+3 wires, N devices SPI
30. Robotics 101 IIC (i2c, I2C, I2C) Inter-Inter Circuit, 2 wires, <128 devices, <2m ways of communication Serial Peripheral Interface, N+3 wires, N devices Universal Asynchronous Receiver/Transmitter, 2 wires, 2 devices, <20m SPI UART
31. Robotics 101 IIC (i2c, I2C, I2C) Inter-Inter Circuit, 2 wires, <128 devices, <2m ways of communication Serial Peripheral Interface, N+3 wires, N devices Universal Asynchronous Receiver/Transmitter, 2 wires, 2 devices, <20m Full Serial Line, 9 wires, 2 devices, <20m RS-232 (COM port) SPI UART
32. Robotics 101 IIC (i2c, I2C, I2C) Inter-Inter Circuit, 2 wires, <128 devices, <2m ways of communication Serial Peripheral Interface, N+3 wires, N devices Universal Asynchronous Receiver/Transmitter, 2 wires, 2 devices, <20m Full Serial Line, 9 wires, 2 devices, <20m RS-232 (COM port) Industry, 2 wires, <32 devices, <1200m RS-485 (EIA-485) SPI UART
33. Robotics 101 IIC (i2c, I2C, I2C) Inter-Inter Circuit, 2 wires, <128 devices, <2m ways of communication Serial Peripheral Interface, N+3 wires, N devices SPI UART Industry, 2 wires, <32 devices, <1200m RS-485 (EIA-485) Universal Asynchronous Receiver/Transmitter, 2 wires, 2 devices, <20m Full Serial Line, 9 wires, 2 devices, <20m RS-232 (COM port)
34. What does a 4 wheels self driving car robot consist of?
51. 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)
52. http://goo.gl/tnXteh
53. The Idea
56. I2C
57. I2C PWM
58. I2C PWM 12V
59. I2C USB PWM 12V
60. I2C SPI USB PWM 12V
61. I2C SPI USB PWM PWM 12V
62. I2C SPI USB PWM PWM 12V
63. I2C SPI USB PWM PWM 12V
64. I2C SPI USB I2C PWM PWM 12V
65. I2C SPI USB I2C PWM PWM 12V
66. I2C SPI USB I2C PWM PWM 12V
67. I2C SPI USB I2C PWM PWM 12V I2C PWM
68. I2C 5V USB 7V 5V 3.3V
69. The Heart
70. The Heart
71. The Heart Hardware
72. The Heart Hardware HAL
73. The Heart Hardware HAL Events
74. The Heart Hardware HAL Events Pre-Emptive Multi-Tasking
75. The Heart Hardware HAL Events Pre-Emptive Multi-Tasking Config
76. How do we develop in Arduino?
77. Wiring / Processing
78. C / C++
79. C / C++
80. C / C++
81. 5 Circles of Hell
82. 5 Circles of Hell in Arduino
83. 5 Circles of Hell in Arduino .ino includes
84. 5 Circles of Hell in Arduino .ino includes LCD_i2c.h
85. 5 Circles of Hell in Arduino .ino includes LCD_i2c.h Crappy China goods
86. 5 Circles of Hell in Arduino .ino includes LCD_i2c.h Crappy China goods HW bugs
87. 5 Circles of Hell in Arduino .ino includes LCD_i2c.h Crappy China goods HW bugs The need of switch
88. The Heart
89. v0 - Procedural (by MacGyver on ohwHack) The Heart
90. v0 - Procedural (by MacGyver on ohwHack) The Heart v0.5 - “Spagetka” (was to ugly to Git -> lost :-(…)
91. v0 - Procedural (by MacGyver on ohwHack) The Heart v0.5 - “Spagetka” (was to ugly to Git -> lost :-(…) v1 - “Spagetti MAS” (in Git repo)
92. v0 - Procedural (by MacGyver on ohwHack) The Heart v0.5 - “Spagetka” (was to ugly to Git -> lost :-(…) v1 - “Spagetti MAS” (in Git repo) v2 - “The Platform” (in Git repo, in progress)
93. v0 - Procedural (by MacGyver on ohwHack) The Heart v0.5 - “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
99. http://goo.gl/lZuAzn
102. https://goo.gl/OhNByp I2C
103. https://goo.gl/QzYRjs https://goo.gl/lG0ggl I2C
104. The Brain
105. The Brain
106. How do we develop for RaspberryPi?
107. In Ruby
108. But not only. It is a full featured* Linux.
109. But not only. It is a full featured* Linux. *running on ARM… :-(
110. 5 Circles of Hell
111. 5 Circles of Hell in RaspberryPi
112. 5 Circles of Hell in RaspberryPi USB driven computer
113. 5 Circles of Hell in RaspberryPi USB driven computer Unstable
114. 5 Circles of Hell in RaspberryPi USB driven computer Unstable More features madness
115. 5 Circles of Hell in RaspberryPi USB driven computer Unstable More features madness Wi-Fi dongle
116. 5 Circles of Hell in RaspberryPi USB driven computer Unstable More features madness Unstable!!! Wi-Fi dongle
117. Multi-Agent System The Brain build on a Actor-based concurrent object framework in Ruby https://github.com/Juicymo/probee
118. The Brain Raspbian
119. The Brain Raspbian rvm
120. The Brain Raspbian rvm ruby
121. The Brain Raspbian rvm ruby celluloid
122. The Brain Raspbian rvm ruby celluloid agens
123. The Brain Raspbian rvm ruby celluloid agens probee MAS
124. The Brain Raspbian rvm ruby celluloid agens probee MAS https://github.com/Juicymo/probee https://rubygems.org/gems/agens https://github.com/celluloid/celluloid https://rvm.io
125. The Brain Object Ruby OOP
126. The Brain Object Cell Ruby OOP Celluloid
127. The Brain Object Cell Actor Ruby OOP Celluloid Celluloid
128. The Brain Object Cell Actor Agent Ruby OOP Celluloid Celluloid agens
129. The Brain Object Cell Actor Agent MovementAgent Ruby OOP Celluloid Celluloid agens probee
130. The Brain MovementAgent Probee MAS
131. The Brain Motors MovementAgent Probee MAS
132. The Brain Motors SteeringAgent MovementAgent Probee MAS
133. The Brain Motors Sensors SteeringAgent MovementAgent Probee MAS
134. The Brain Motors Sensors CollisionAgent SteeringAgent MovementAgent Probee MAS
135. The Brain Motors Sensors CollisionAgent SteeringAgent MovementAgent Probee MAS
136. The Brain Motors Sensors CollisionAgent SteeringAgent MovementAgent Probee MAS Simple Agents can perform complex tasks
137. The Brain
138. The Brain
139. How to make AI Logic Scripting HFSM Heuristics MAS GA ANN HTN
140. How to make AI Logic Scripting HFSM Heuristics MAS GA ANN HTN ?
141. HFSM Movement FSM Stop Drive Slowly Drive Fast
142. HFSM Movement FSM Stop Drive Slowly Drive Fast Turn Turret FSM Stop Scan Target
143. HFSM Movement FSM Stop Drive Slowly Drive Fast Turn Turret FSM Stop Scan Target How to combine them??
144. HFSM Movement FSM Stop Drive Slowly Drive Fast Turn Turret FSM Stop Scan Target How to combine them?? Modularity sucks too…
145. How to make AI Logic Scripting HFSM Heuristics MAS GA ANN HTN ?
146. How to make AI Logic Scripting HFSM Heuristics MAS GA ANN HTN Behavior Trees
148. Behavior Trees http://aigamedev.com/open/article/bt-overview/ http://behavior3js.guineashots.com/ http://aigamedev.com/open/article/behavior-trees-part1/
149. Neural Nets HFSM MAS HTN Behavior Trees https://github.com/Inza/agens https://en.wikipedia.org/wiki/Multi-agent_system https://github.com/aasm/aasm https://en.wikipedia.org/wiki/Finite-state_machine https://github.com/Maumagnaguagno/HyperTensioN https://en.wikipedia.org/wiki/Hierarchical_task_network https://github.com/jvoegele/behavior_tree https://en.wikipedia.org/wiki/Behavior_tree https://github.com/SergioFierens/ai4r https://en.wikipedia.org/wiki/Artificial_neural_network
150. Questions?
151. Tomáš Jukin @Inza www.juicymo.cz @JuicymoCZ