LEADER FOLLOWER SYSTEM Prepared By Noor Johari Lubna

LEADER / FOLLOWER SYSTEM Prepared By: Noor Johari, Lubna Najjar Supervisor: Dr Manar Qamhieh

Outline ■ ■ ■ ■ Introduction Applications Hardware Software Application Communication Protocol System Cases Demo

Introduction The leader/follower (master/slave) concept in robotics: ■ A method for a centralized architecture that promotes the leader/follower relationship. ■ Multi-Robot systems. ■ Effective Communication Protocol. ■ Artificial Intelligence. ■ Self-Organization. ■ Almost Full Automation.

Applications ■ Swarm Robotics. ■ Medical applications such as Surgical Robotics. ■ Fire-Extinguishing Robots. ■ Production Lines in Factories. ■ Self-Driving Cars. ■ Robots that aid with Natural Disasters. ■ Etc.

Hardware The hardware used to materialize the system includes: ■ A reliable robotics structure. ■ Building two cars effectively and efficiently. • Leader Car (Remote Controlled) • Follower Car (Automated) ■ Optimizing cost while serving the needs of the system.

Movement Elements 4 Wheels 4 Stepper Motors 4 Motor Drivers

Microcontroller Arduino Mega 2560 R 3

Communication Elements § Leader Car Control Through android software application using Bluetooth HC-05 Module § Cars Communication Allow wireless communication between the two cars through SPI protocol. NRF 24 Transceiver

Obstacle Detection and Avoidance § Obstacle Sensor Transmits ultrasonic waves that are reflected from obstacles to the receiver part of the sensor. 4 Ultrasonic Sensors Power Source § 9. 6 V Ni. MH Rechargeable Battery

Software ■ Android Application. ■ Provides user control of the leader car: o Movement Direction o Speed o Acceleration o Distance

Communication Protocol A bespoke communication protocol was developed for this system: ■ Assurance of correct two-way transmission. ■ Correct reception and feedback. ■ Leader’s full knowledge of any problem that may arise. ■ Comply with certain regulations and rules in order to cover all the possible scenarios that may occur.

Leader Request Format When the source of the data is the leader, the following format is used: Stepper Leader Is Request Follower Category Movement Motor Actual Error Command Id Id Id Type Elements Distance Status Available Motor Speed Acceleratio Distance n

Follower Response Format When the follower responds to the leader, the following feedback format is used: Response Follower Id Id Category Id Movement Type Follower Error Status

System Cases Four cases have been implemented and tested: ■ Ideal Case ■ Leader Obstacle Case ■ Follower Obstacle Case ■ Connection Loss Case

Ideal Case

Leader Obstacle Case

Follower Obstacle Case

Follower Obstacle Case - Continued

Connection Loss Case

Conclusion ■ A first step in design of leader/follower system has been accomplished. ■ Artificial Intelligence is incorporated in the system and is expandable. ■ Partial Automation is achieved within the system. ■ Communication Protocol has been developed. ■ This work establishes a baseline upon which any other application of a similar architecture can comply to the same communication protocol, regardless of the number of units in the system.