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Mobile Robot Design: Team J1

The document provides an overview of a mobile robot project. The objectives are to design a robot that can navigate a maze, collect information within the maze, transmit the data to a PC for display, and exit the maze. The robot uses an Altera board to control components like rangefinders, sensors, a drive train and wireless communications. Testing procedures are described for various components. The project status provides an update on completed and remaining tasks, and is on schedule. Budget and schedule are also summarized. Real-world applications are discussed.

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Yogesh Yadav
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39 views33 pages

Mobile Robot Design: Team J1

The document provides an overview of a mobile robot project. The objectives are to design a robot that can navigate a maze, collect information within the maze, transmit the data to a PC for display, and exit the maze. The robot uses an Altera board to control components like rangefinders, sensors, a drive train and wireless communications. Testing procedures are described for various components. The project status provides an update on completed and remaining tasks, and is on schedule. Budget and schedule are also summarized. Real-world applications are discussed.

Uploaded by

Yogesh Yadav
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Mobile Robot Design

Eric Adams
Presented by: Chris Eaton
Kevin Glover
Team J1 Manny Lebita
Gus Weiss IV
Outline

z Project Definition/Objectives
z Component Overview
z System Wide Integration/Testing
z Project Status
z Budget/Schedule Update
z Questions
Project Definition

To design a mobile robotic system that will


traverse through a maze with arbitrary
obstacles and transmit information to a PC that
will graphically display the robot’s telemetry
information and maze layout.
Project Objectives

z Navigate/Collectinformation within maze


z Traverse a closed path within maze
z Transmit information using transceivers
z Process and display received data
z Exit maze
System Block Diagram

Compass Rangefinders

Altera
Board

IR Sensors Transceiver Drive Train

PC-Side
Application
Project Specifications
Components

z Altera Board
z Drive Train
z Rangefinders
z IR Sensors
z Compass
z Communications
z PC Application
Altera Board

z Controls the robot


z Interface to all modules
z Modules are connected through
expansion header pins
z Built-in 7-segment LED’s, push-button
switches, and DIP switches for testing
z Programmed using VHDL
Drive Train

z Consists of 2 modified servos


with wheels
z Drive Train control logic
provides 8 directional settings
and 4 speed settings
z Servos are driven using PWM
signals
z Speed controlled by altering
duty cycle
Drive Train
Testing Procedure
z Developed PWM generator separately and verified
waveforms using oscilloscope.
z Ensured relatively straight travel in all speed modes
Ultrasonic Rangefinder Sensors

z Consists of 3 rangefinder
modules
z Determines range to objects
z Returns hex value, which is
interpolated by software
z Actual effective range
3cm – 89cm
z Actual precision inconsistent,
thus streaming buffer
implemented in software
Ultrasonic Rangefinder Sensors
Testing Procedure
z Verified correct trigger input values using
oscilloscope
z Measured output readings at various
distances to ensure consistency
Infrared Line-Tracker Sensors

z Front-mounted module with


three digital lines
z Signal goes high when
reflective material detected
beneath the sensor
z Altera board uses IR sensors
to decide movement when
traversing loop
Infrared Line-Tracker Sensors
Testing Procedure
z Line tracker has built-in LED’s that
illuminate when the sensor’s signal goes
high (i.e., when the tape is detected.)
z Place each sensor over a piece of tape
and make sure the LED illuminates. This
ensures the line tracker itself is working.
z Place the robot on a closed path and see
if it follows it. This ensures proper
integration of the line tracker.
Odometer
z Instrument needed to measure the
distance traveled by robot
z Initially planned on implementing timers
with servos, but servos were unreliable
z Decided on hardware odometer
z Servo consistency improved, and thus we
returned to original plan
Electronic Compass

z Provides orientation
information
z Important in mapping and loop
traversal
z VHDL control logic
implemented
z Interfaces using SPI
z Communication difficulties
z Software contingency in
development
Compass Contingency Plan

z Communication problems with the


compass could force an alternative
solution
z Contingency plan is to implement
software functionality to replace
compass
z Software would use trigonometric
formulas with odometer data to calculate
a heading
Wireless Communications
z Necessary for robot-to-
pc communications
z Accomplished through 2
transceiver modules
z Data transferred at 19.2k
bits/sec
z VHDL module controls
send/receive logic
z Robot and PC send
packets to each other
z Packet format revised…
RF Communications
Data Packets
Robot-To-PC Packet:
Byte 0 Left Rangefinder [7..0] (integer 0-255)
Byte 1 Center Rangefinder [7..0] (integer 0-255)
Byte 2 Right Rangefinder [7..0] (integer 0-255)
Byte 3 Speed [1..0] Move Control [2..0] Sensors [2..0]
Byte 4 Mode[1..0] Reserved
Byte 5 Reserved

PC-To-Robot Packet:
Byte 0 Override Mode[1..0] Speed [1..0] Control [2..0]
RF Communications
Testing Procedure
z Receiver and
transmitter modules
developed
separately
z Oscilloscope used to
verify clock lines,
timing, and proper
operation
System-Wide Integration
z Top-level VHDL file that integrates communications,
drive train, IR sensors, and ultrasonic rangefinder
sensors
z Implemented as Finite-State-Machine with four states
z Idle Mode stops robot and waits for commands
z Remote-Guide Mode controls robot based on
incoming packets
z Self-Guide Mode controls robot based on its own
sensor readings
z Traversal Mode controls robot based on IR Sensors
once robot is in closed-loop
Responsibility Shift: Software
z Servo control improved, allowing software
implementation of odometer
z Compass work still being done;
contingency plan: software implementation
z Packet formats revised
z Software buffer implemented to improve
rangefinder consistency
z PC-Side App is Brain of robot
PC-Side Application

z Use Visual Basic 6 to display an


approximate map of the maze based on
data sent by the robot
z Record obstacles in memory in order to
aid robot in decisions
z Provide direct human control of robot
Processing Packets

z Packets include rangefinder, line tracker,


and servo data
z Velocity and timer: determine distance
traveled (odometer)
z Turn-rate and timer: determine heading
changes (pseudo-compass)
z Rangefinder distances and basic
trigonometry: obstacle placement
Software Distance Correction

z Rangefinder returns erratic data


z Distances sent to streaming buffers
z Buffers “smooth” inconsistencies in data,
providing a time-averaged value
z This value is then interpolated from a
table of actual distances
Storing the Maze

z Maze is 214cm x 305cm


z PC-Side App creates a matrix
z Each array element represents a 1cm
square
z Detected obstacles are placed in matrix
Maze Legend

z 0 = unexplored territory
z 1 = path traveled by robot
z 2 = tape
z 3-9 = reserved
z 10-255 = walls
z 255 represents highest accuracy
z 10 represents lowest accuracy
z Higher accuracies overwrite lower accuracies
Project Status: Completed Tasks

z Integrated/Tested:Drive Train,
Rangefinders, IR Sensors, and
Communications
z PC-Side App and robot are “talking”
z PC-Side App graphically displays robot
sensor status and orientation
z Robot can traverse a closed loop
z Robot can explore maze randomly
Project Status: Remaining Tasks

z Finish compass—either in hardware or


software
z Implement algorithm for maze traversal
z Complete PC-side mapping algorithm
z Write final report
z Project is ON SCHEDULE
Schedule Update
Drive Train
Rangefinders
IR Sensors
Compass
Communications
Integration
PC-Side App
Documentation
Presentation

0 10 20 30 40 50 60 70
Time (man-hours)

Original Updated
Budget Update
Unit
Qty Description Price Total
3 Ultrasonic RangeFinders $39.95 $119.85
2 Battery Chargers $38.50 $77.00
1 Tracker Sensor $19.95 $19.95
1 Wireless Transceiver Pair $74.26 $74.26
1 Electronic Compass $55.00 $55.00
1 Rover Kit with 2 servos $94.95 $94.95
1 UP2 Development Board $149.00 $149.00
2 NiCad Rechargeable Batteries $14.95 $29.90
Total: $619.91
Engineering Impact Considerations

z Safety/Health Issues
- Battery could possibly leak
z Wireless Communications Standards
- 433MHz band available for
unlicensed transmission
Real-World Application
z Space/Nautical
Exploration

z Plant Automation

z Military Weapons

z Home Appliances

z Automated Medical
Equipment
Questions?

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