Locomotion Jad Farah Long Quy Patrick Swann Korhan Demirkaya Ngoc Mai Navigation
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Transcript of Locomotion Jad Farah Long Quy Patrick Swann Korhan Demirkaya Ngoc Mai Navigation
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LocomotionJad Farah Long Quy Patrick Swann Korhan Demirkaya Ngoc Mai NavigationSteven Weaver Denden Tekeste Ali Alkuwari Marcus Schaffer
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Objective
Design & build an autonomous robot with ability to:
Navigate a given course -Pass through gates by sensing beaconAvoid obstacles -Various sensors to plot track of robotControl functions: -High (BEAGLEBOARD) -Low (AVR1 & 2)
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Project Requirements
• Various sensors to plot track of robot • Detect ultrasonic beacons within 15 - 25 feet• Fits within a 16”x16”x16” cube• Has clearly labeled emergency stop switch• Travels 1.5 ft/sec• Regulates voltage
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Block Diagram
AVR ATmega 1280(PS 1) BEAGLE BOARD
OMAP 3530
(PS 2)
H-Bridge
(24 V)
Motor LEFT
Motor RIGHT
2 PWM
/ 4 Di
rectio
n
1 Digi
tal
Wheel Encoder RIGHT(PS 2)
Wheel Encoder
LEFT(PS 2)
1 Digi
tal
2 2
2 Ana
log
4 PWM
Ultrasonic Sensors
(PS 2)
Flex Sensors
(PS 2)
GPS
(PS 2)
Digital Compass
(PS 2)
2 PWM
Servo Motor (PS 2)
SCL(S
erial
I2C)
SDL(S
erial
I2C)
PS 1 = 7.2VPS 2 = 5 V
2 x 7.2V 2300mAh
Nimh Battery2
24V 4200mAhNimh Battery
24V
AVR ATmega 328(PS 1)
Serial(USB)
RXTX
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Block Diagram - Navigation
AVR ATmega 1280 BEAGLE BOARDOMAP 3530Serial(USB)
2 A
nal
og
4 P
WM
Ultrasonic Sensors
Flex Sensors
GPS
Digital Compass
2 P
WM
Servo Motor
SC
L(S
eria
l I2C
)
SD
L(S
eria
l I2C
)
RX
TX
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Block Diagram – Locomotion
BEAGLE BOARDOMAP 3530
H-Bridge
Motor LEFT
Motor RIGHT
2 PW
M /
4 Di
rect
ion
Wheel Encoder RIGHT
Wheel Encoder
LEFT
1 Di
gita
l
2 2
AVR ATmega 328 Serial(USB)
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Assembly
• aluminum body
• specially designed PCBs
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unique wire layout
and alternative
Assembly
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Assembly
• switches for logic & motor power
• fuses
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Mounting
• Various Sensors • H-Bridge
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Mounting
• GPS & Compass• Beagle Board• AVRs
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• HBridge + Voltage Regulator
• GPS
• Compass
• UART
• Wheel Encoder
• Daughter board
• Sensors: Beacon, Ultrasonic, & Flex
PCB Design
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Motor Control
• Hardware : Wheel Encoders, H-Bridge, dedicated micro controller
•Software : Speed / PID Control
• Multiple speeds
1kHz–slowest speed≈ 0.8 feet/second
3kHz–fastest speed≈ 2.5 feet/second
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Beagle Board
• Robot brain – high level control
• Python code
• GPS parsing
• Object avoidance
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AVR
• serial coding for sensors
• powered with one 7.2V
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GPS & RF
• 300 lines of Python code
• GPS equation estimates coordinates, distance, & direction on map
• RSSI equation to estimate distance of beacons
• 2 UART – 5V & 3.3V output
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Sensors
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• Turtle’s Body
• Parts Mounted
• Code
• PCB
• Interface Beagle Board & AVR together
Milestones
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Budget
Beagle Board $150
AVRs $105
GPS $50
Batteries $82
Sensors $78
Labor Cost $0
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