AUTONOMOUS RESCUE VEHICLE (TEAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin
AUTONOMOUS RESCUE VEHICLE(TEAM 10)
Team members: Julia Liston, Vipul Bhat,
Krithika Iyer, Ruiyang Lin
PROJECT OVERVIEW
Our team’s goal is to build a prototype of a robot that can: Use GPS to locate a lost person Autonomously navigate towards the person Lead him or her back to a safe location, which is
the starting location of the robot
PSSCS
An ability to move and steer using appropriate motors and drive systems
An ability to transmit GPS coordinates from the rescue-point transceiver to the robot via an RF module
An ability to receive and process GPS coordinates on the robot and move toward the given coordinates
An ability to detect obstacles and navigate around them using ultrasonic sensors.
An ability to monitor the battery level of the robot
BLOCK DIAGRAM
BLOCK DIAGRAM (CONTINUED)
+3.3 VPower
Supply Module Microcontroller
RF Transmitter
Module (Xbee Pro)
GPS ModuleUART (9
bit)
PWR _CTR
Rescue-Point Transceiver
COMPONENT SELECTION
COMPONENT SELECTION (CONTINUED) Microcontroller
2 PWM 2 UART Minimum 4 ATD Minimum 14 digital I/O pins Fast to handle data input (At least 32-bit
preferably, with CPU at least 50MHz) 3.3 V operating voltage
Final choice: PIC32MX120F032B for Robot and for the rescue point transceiver.
COMPONENT SELECTION (CONTINUED) Motors
Enough torque to handle rugged terrain Steady state current relatively low to reduce power Built-in gear box to simplify design Chose: Dagu 25D Motor with 34:1 Gearbox
GPS receiver Accurate locating capability Relatively inexpensive Communicate through UART Chose: ADH Technology - GPS-11571
RF module Long range communication (6 miles) Conform to FCC requirements Chose: Digi International Inc - XBP09-DPSIT-156
COMPONENT SELECTION (CONTINUED)
Ultrasonic Sensors: Easy to use ATD High Resolution Cost-effective Chose: Maxbotix LV-EZ4
H Bridge Delivers up to 5 A continuous Low turn-on resistance Built-in circuit protection Chose: TLE5206
PACKAGING
Constraints Traverse rugged terrain Lightweight and Sturdy Room for PCB and off chip peripherals Minimize cost Looks cool
PACKAGING (CONTINUED)
Batteries
PCB
Ultrasonic
Sensors
GPS
PACKAGING (CONTINUED)Rescue-Point Transceiver
SCHEMATICS (ROBOT)
SCHEMATICS (ROBOT)
SCHEMATICS (ROBOT)
SCHEMATICS (ROBOT)
SCHEMATICS (ROBOT)
SCHEMATICS (ROBOT)
SCHEMATICS (ROBOT)
SCHEMATICS (TRANSCEIVER)
SCHEMATICS (TRANSCEIVER)
PCB LAYOUT (ROBOT)
PCB LAYOUT (TRANSCEIVER)
PCB LAYOUT (MICROCONTROLLER)
Robot Transceiver
PCB LAYOUT (TRANSCEIVER POWER SUPPLY)
3.3 Volt Ground
PCB LAYOUT (ROBOT POWER SUPPLY)
3.3 Volt
PCB LAYOUT (ROBOT POWER SUPPLY)
-3.3V
PCB LAYOUT (ROBOT POWER SUPPLY)
Digital Ground
PCB LAYOUT (ROBOT POWER SUPPLY)7.2Volt
PCB LAYOUT (ROBOT POWER SUPPLY)Motor Ground
PRELIMINARY SOFTWARE DESIGN
Completed testing: Can transmit and receive with UART ATD PWM – Motor control Timing modules and interrupts
Future design: Motor control Navigation algorithm – ultrasonic sensors Process GPS data Transmit and receive with RF module
TIMELINETimeline 8 9 Spring Break 10 11 12 13 14 15Week 1-Mar 8-Mar 15-Mar 22-Mar 29-Mar 5-Apr 12-Apr 19-Apr 26-AprSoftware (Basic subroutines)
Ultrasonic RF Module GPS Motor Control IR
Software (Debugging with hardware) Debugging Navigation Debugging GPS and RF communication
Hardware Proof Final PCB Motor Testing PCB Population & Testing
Final packaging Prepare for Final Design Presentation