Miller Robotic Interface II Manual de usuario descargar pdf (Pagina 78)

time Transfer Protocol (RTP). Robert Casey and I implemented the JMF on the robot. Philip

Thoren installed his project, called Phission, on the robot to replace the JMF. Using Phission it

was possible to perform advanced video editing techniques, such as overlaying the FLIR camera

stream on the video stream [Thoren, 2007]. Phission also sent its images via RTP, so the

interface could still use the JMF on its end.

The original command protocol and autonomy modes came from INL. Over the years, Michael

Baker added commands to the command protocol as more sensors were added. He and

Andrew Chanler also rewrote the INL autonomy modes to enhance their abilities. They also

created a subsumption-like architecture that can combine multiple robot behaviors. They also

made it so that the robot can send the interface a list of autonomy modes currently available.

The user can then select from this list of autonomy modes on a drop-down menu on the

interface [Casey, Chanler et al., 2005]. I implemented the drop-down menu on the interface, but

this menu does not relate in a large part to this research.

The first mapping package we used on the robot, WAX from NRL, was installed and worked on

by Robert Casey [Schultz, 1999]. He made it so the map was created into a PNG image file and

then copied to the computer the interface was running on. This file was then displayed by the

interface. After the second study of version 1.0, we moved to the PMap package out of USC.

[Howard, 2004] This package was installed and worked on by Andrew Chanler. The map image

was sent to the interface as a video stream via Phission.

Robert Casey also set up the pan/tilt/zoom controls for the cameras.

The only thing I did on the robot end of the project was to create a way to filter out spurious

readings from the sonar data. This algorithm uses a windowed approach, comparing the last X

number of readings. It drops the maximum and minimum values and returns the average of the

rest.

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Miller Robotic Interface II Manual de usuario Pagina 78