How to build Open Hardware self-navigating car robot

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How to build Open Hardware Robot with Arduino, RaspberryPi and Hot Glue Tomáš Jukin @Inza

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Tomáš Jukin @Inza www.juicymo.cz @JuicymoCZ

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#Probee

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True evolution…

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True evolution… GDG ohwHack 2014 mDevCamp 2016

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True evolution… GDG ohwHack 2014 mDevCamp 2016

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Robotics 101

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Robotics 101 Micro-Computer vs. Micro-Controller

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Robotics 101 Micro-Computer vs. Micro-Controller

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Robotics 101 Micro-Computer vs. Micro-Controller

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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

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Robotics 101 ways of communication

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

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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

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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

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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)

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What does a 4 wheels self driving car robot consist of?

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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)

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http://goo.gl/tnXteh

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The Idea

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I2C

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I2C PWM

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I2C PWM 12V

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I2C USB PWM 12V

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I2C SPI USB PWM 12V

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I2C SPI USB PWM PWM 12V

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I2C SPI USB PWM PWM 12V

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I2C SPI USB PWM PWM 12V

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I2C SPI USB I2C PWM PWM 12V

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I2C SPI USB I2C PWM PWM 12V

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I2C SPI USB I2C PWM PWM 12V

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I2C SPI USB I2C PWM PWM 12V I2C PWM

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I2C 5V USB 7V 5V 3.3V

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The Heart

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The Heart

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The Heart Hardware

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The Heart Hardware HAL

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The Heart Hardware HAL Events

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The Heart Hardware HAL Events Pre-Emptive Multi-Tasking

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The Heart Hardware HAL Events Pre-Emptive Multi-Tasking Conﬁg

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How do we develop in Arduino?

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Wiring / Processing

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C / C++

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C / C++

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C / C++

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5 Circles of Hell

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5 Circles of Hell in Arduino

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5 Circles of Hell in Arduino .ino includes

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5 Circles of Hell in Arduino .ino includes LCD_i2c.h

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5 Circles of Hell in Arduino .ino includes LCD_i2c.h Crappy China goods

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5 Circles of Hell in Arduino .ino includes LCD_i2c.h Crappy China goods HW bugs

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5 Circles of Hell in Arduino .ino includes LCD_i2c.h Crappy China goods HW bugs The need of switch

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The Heart

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v0 - Procedural (by MacGyver on ohwHack) The Heart

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v0 - Procedural (by MacGyver on ohwHack) The Heart v0.5 - “Spagetka” (was to ugly to Git -> lost :-(…)

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v0 - Procedural (by MacGyver on ohwHack) The Heart v0.5 - “Spagetka” (was to ugly to Git -> lost :-(…) v1 - “Spagetti MAS” (in Git repo)

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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)

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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

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http://goo.gl/lZuAzn

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https://goo.gl/OhNByp I2C

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https://goo.gl/QzYRjs https://goo.gl/lG0ggl I2C

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The Brain

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The Brain

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How do we develop for RaspberryPi?

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In Ruby

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

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But not only. It is a full featured* Linux. *running on ARM… :-(

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5 Circles of Hell

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5 Circles of Hell in RaspberryPi

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5 Circles of Hell in RaspberryPi USB driven computer

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5 Circles of Hell in RaspberryPi USB driven computer Unstable

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5 Circles of Hell in RaspberryPi USB driven computer Unstable More features madness

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5 Circles of Hell in RaspberryPi USB driven computer Unstable More features madness Wi-Fi dongle

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5 Circles of Hell in RaspberryPi USB driven computer Unstable More features madness Unstable!!! Wi-Fi dongle

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Multi-Agent System The Brain build on a Actor-based concurrent object framework in Ruby https://github.com/Juicymo/probee

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The Brain Raspbian

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The Brain Raspbian rvm

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The Brain Raspbian rvm ruby

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The Brain Raspbian rvm ruby celluloid

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The Brain Raspbian rvm ruby celluloid agens

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The Brain Raspbian rvm ruby celluloid agens probee MAS

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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

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The Brain Object Ruby OOP

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The Brain Object Cell Ruby OOP Celluloid

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The Brain Object Cell Actor Ruby OOP Celluloid Celluloid

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The Brain Object Cell Actor Agent Ruby OOP Celluloid Celluloid agens

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The Brain Object Cell Actor Agent MovementAgent Ruby OOP Celluloid Celluloid agens probee

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The Brain MovementAgent Probee MAS

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The Brain Motors MovementAgent Probee MAS

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The Brain Motors SteeringAgent MovementAgent Probee MAS

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The Brain Motors Sensors SteeringAgent MovementAgent Probee MAS

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The Brain Motors Sensors CollisionAgent SteeringAgent MovementAgent Probee MAS

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The Brain Motors Sensors CollisionAgent SteeringAgent MovementAgent Probee MAS

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The Brain Motors Sensors CollisionAgent SteeringAgent MovementAgent Probee MAS Simple Agents can perform complex tasks

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The Brain

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The Brain

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How to make AI Logic Scripting HFSM Heuristics MAS GA ANN HTN

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How to make AI Logic Scripting HFSM Heuristics MAS GA ANN HTN ?

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HFSM Movement FSM Stop Drive Slowly Drive Fast

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HFSM Movement FSM Stop Drive Slowly Drive Fast Turn Turret FSM Stop Scan Target

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HFSM Movement FSM Stop Drive Slowly Drive Fast Turn Turret FSM Stop Scan Target How to combine them??

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HFSM Movement FSM Stop Drive Slowly Drive Fast Turn Turret FSM Stop Scan Target How to combine them?? Modularity sucks too…

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How to make AI Logic Scripting HFSM Heuristics MAS GA ANN HTN ?

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How to make AI Logic Scripting HFSM Heuristics MAS GA ANN HTN Behavior Trees

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Behavior Trees http://aigamedev.com/open/article/bt-overview/ http://behavior3js.guineashots.com/ http://aigamedev.com/open/article/behavior-trees-part1/

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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