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The following document outlines the requirements, constraints, and operational conditions of the PropBot project. This project is being developed for the UBC Radio Science Lab (RSL) .
The lab’s current research is focused on next-generation wireless and radar systems with the intention of helping to transform numerous industries and systems, including but not limited to marine transportation systems, road safety systems, urban systems, the natural resources sector, and the national defence sector. Further, the UBC RSL values exploring how new technologies, like autonomous systems, can radically change the communications sector.
The UBC RSL requires extensive wireless data collection to facilitate their research endeavours. This involves an arduous and time consuming process of wheeling collection equipment on a cart and recording location data manually. There are currently no commercially available automated solutions specifically for wireless propagation measurement data collection. To address this unmet need, the UBC RSL is developing a six-wheeled autonomous robot, aptly named PropBot for “Propagation Robot”.
The final goal of the PropBot initiative is to qualify the PropBot as a Level 3 autonomous vehicle, as defined by the standards set by the Society of Automotive Engineers (SAE) . Given this broad scope, the initiative is projected to be completed via multiple sequential capstones along with the continuous efforts of the UBC RSL.
PropBot’s current architecture
The final form of "PropBot" will be a fully teleoperable robot that is able to navigate through certain parts of campus autonomously, while recording highly accurate time-stamped location data to be used for research purposes. Achieving this will significantly reduce the time required for collecting propagation measurements. Further, this initiative serves as a basis for the UBC RSL to explore autonomous data collection capabilities. Specifically, PropBot’s real-world driving validation methods include the use of the Aurora Connected Vehicles Testbed , a testing area funded by Transport Canada , the BC Ministry of Transportation and Infrastructure and the Canada Foundation for Innovation . The site was established with the purposes of advancing the use of wireless technology for freight security and efficiency and establishing best practices for use of wireless technology in Canada’s Intelligent Transport Systems Architecture .
As the first capstone involved in the PropBot initiative, our contributions will focus on the development of an autonomy framework, which includes the custom packages for localization, motion planning, motion control, and mission command. Along with the framework, a corresponding autonomy sensor suite has been selected. Finally, to facilitate future hardware improvements, we have selected new electro-mechanical system components to be integrated in the future.
Traditional data collection for propagation measurements is a very lengthy and tedious process. Figure [fig:trad_collec] is an example of a traditional collection session. Sessions differ greatly depending on the type of measurements, the number of points of interest (POI), the environment in which the measurements are being collected, and the proximity of the points of interest to each other. Often research campaigns involve collecting data for 9 hours a day.
Example of traditional propagation measurement data collection
However, the repeatability of the various types of collections can be harnessed to improve the current system. Specifically, the transportation to and from POIs, leveling and alignment, and environmental awareness.
The goals of the PropBot initiative as a whole, to be achieved over multiple capstones and numerous contributions from members of the RSL, are that
The PropBot shall help UBC RSL improve their efficiency of data collection.
The PropBot shall help UBC RSL decrease the human power that each research requires.
characterized by
A decrease in time required to transport equipment to/from POIs by 50%
The limiting of the humanpower required to transport equipment to/from POIs to a maximum two people
Improvements in environmental awareness by increasing position accuracy by 25% and providing a 3D scan of test locations
To optimize our contribution, the broad scope initiative was narrowed to focus on
Evaluating the legacy electro-mechanical system and proposing new system components.
Evaluating the legacy sensor suite and selecting a new autonomy sensor suite.
Developing an autonomy package so a robot will safely follow a programmed route throughout campus
Integrating sensors for situational awareness and position estimation that improve the robot’s safety features.
Developing a vehicle interface firmware stack for interfacing with the drive system, the autonomy computer, and peripheral sensors.