Raspberry Pi Robotic Projects

351 Pages·2014·19.4 MB·English

by  Richard Grimmett

Table of Contents
Raspberry Pi Robotic Projects
Credits
About the Author
About the Reviewers
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Preface
What this book covers
What you need for this book
Who this book is for
Conventions
Reader feedback
Customer support
Downloading the example code
Errata
Piracy
Questions
1. Getting Started with Raspberry Pi
Getting started
The unveiling
Hooking up a keyboard, mouse, and display
Installing the operating system
Accessing the board remotely
Summary
2. Programming Raspberry Pi
Basic Linux commands on Raspberry Pi
Creating, editing, and saving files on Raspberry Pi
Creating and running Python programs on Raspberry Pi
Basic programming constructs on Raspberry Pi
The if statement
The while statement
Working with functions
Libraries/modules in Python
The object-oriented code
Introduction to the C/C++ programming language
Summary
3. Providing Speech Input and Output
Hooking up the hardware to make and input sound
Using Espeak to allow our projects to respond in a robot voice
Using PocketSphinx to accept your voice commands
Interpreting commands and initiating actions
Summary
4. Adding Vision to Raspberry Pi
Connecting the USB camera to Raspberry Pi and viewing the images
Downloading and installing OpenCV – a fully featured vision library
Using the vision library to detect colored objects
Summary
5. Creating Mobile Robots on Wheels
Gathering the required hardware
Using a motor controller to control the speed of your platform
Controlling your mobile platform programmatically using Raspberry Pi
Making your mobile platform truly mobile by issuing voice commands
Summary
6. Making the Unit Very Mobile – Controlling the Movement of a Robot
with Legs
Gathering the hardware
Connecting Raspberry Pi to the mobile platform using a servo
controller
Connecting the hardware
Configuring the software
Creating a program in Linux to control the mobile platform
Making your mobile platform truly mobile by issuing voice commands
Summary
7. Avoiding Obstacles Using Sensors
Gathering the hardware
Connecting Raspberry Pi to an infrared sensor
Connecting Raspberry Pi to a USB sonar sensor
Connecting the hardware
Using a servo to move a single sensor
Summary
8. Going Truly Mobile – The Remote Control of Your Robot
Gathering the hardware
Connecting Raspberry Pi to a wireless USB keyboard
Using the keyboard to control your project
Working remotely with your Raspberry Pi through a wireless LAN
Working remotely with your Raspberry Pi through ZigBee
Summary
9. Using a GPS Receiver to Locate Your Robot
Connecting Raspberry Pi to a GPS device
Accessing the GPS programmatically
Summary
10. System Dynamics
Getting started
Creating a general control structure
Using the structure of the Robot Operating System to enable complex
functionalities
Summary
11. By Land, Sea, and Air
Using Raspberry Pi to sail
Getting started
Using Raspberry Pi to fly robots
Using Raspberry Pi to make the robot swim underwater
Summary
Index
Raspberry Pi Robotic Projects
Raspberry Pi Robotic Projects
Copyright © 2014 Packt Publishing All rights reserved. No part of this
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First published: February 2014
Production Reference: 1140214
Published by Packt Publishing Ltd.
Livery Place
35 Livery Street
Birmingham B3 2PB, UK.
ISBN 978-1-84969-432-2
www.packtpub.com
Cover Image by John Michael Harkness (<[email protected]>)
Credits
Author
Richard Grimmett
Reviewers
Hector Cuesta
Lihang Li
Masumi Mutsuda Zapater
Acquisition Editors
Usha Iyer
Anthony Albuquerque
Nikhil Karkal
Content Development Editor
Ruchita Bhansali
Technical Editors
Novina Kewalramani
Rohit Kumar Singh
Pratish Soman
Copy Editors
Tanvi Gaitonde
Dipti Kapadia
Shambhavi Pai
Project Coordinator
Amey Sawant
Proofreaders
Paul Hindle
Ameesha Green
Indexer
Monica Ajmera Mehta
Graphics
Yuvraj Mannari
Abhinash Sahu
Production Coordinator
Kyle Albuquerque
Cover Work
Kyle Albuquerque
About the Author
Richard Grimmett has been fascinated by computers and electronics
from his very first programming project, which used Fortran on punch
cards. He has a bachelor's and master's degree in electrical engineering
and a PhD in leadership studies. He also has 26 years of experience in
the radar and telecommunications industries (he even has one of the
original brick phones). He now teaches computer science and electrical
engineering at Brigham Young University - Idaho, where his office is filled
with his many robotic projects. He recently completed a book on using
BeagleBone Black for robotic projects, and is now excited to release this
title for those who prefer Raspberry Pi.
I would certainly like to thank my wife Jeanne and family for providing
me with a wonderful, supportive environment that encourages me to
take on projects such as this one. I would also like to thank my
students; they showed me that amazing things can be accomplished
by those who are unaware of all the barriers.
About the Reviewers
Hector Cuesta is the author of the book Practical Data Analysis, Packt
Publishing, and holds a BA in Informatics and an MSc in Computer
Science. He provides consulting services for software engineering and
data analysis and has more than nine years of experience in various
industries including financial services, social networking, e-learning, and
human resources.
Hector is fluent in several programing languages and computational tools
such as Java, Python, R, C-CUDA, ActiveMQ, Hadoop, C#, D3.js,
MongoDB, SQL, Weka, Cassandra, OpenMP, and MPI.
He is a lecturer in the Department of Computer Science at the
Autonomous University of Mexico State. His main research interests lie in
computational epidemiology, machine learning, computer vision, high
performance computing, big data, simulation, and data visualization.
He has done a research residency (Fall 2011) in Computational
Epidemiology at University of North Texas in the Center of Computational
Epidemiology and Response Analysis (CeCERA). He is currently working
on modeling and simulation of infectious diseases using global stochastic
cellular automata.
He has helped in the technical review of the books Raspberry Pi
Networking Cookbook, Rick Golden, Packt Publishing, and Hadoop
Operations and Cluster Management Cookbook, Shumin Guo, Packt
Publishing. He is also a columnist with Software Guru and has published
several scientific papers in international journals and conferences. He is
an enthusiast of Lego Robotics and Raspberry Pi in his spare time.
You can follow him on Twitter at https://twitter.com/hmCuesta.
Lihang Li received his BE degree in Mechanical Engineering from
Huazhong University of Science and Technology (HUST), China, in 2012
and is now pursuing his MS degree in Computer Vision from the National
Laboratory of Pattern Recognition (NLPR) at the Institute of Automation,
Chinese Academy of Sciences (IACAS).