ECE 477 Final Presentation Team 10 Spring 2013

ECE 477 FINAL PRESENTATION TEAM 10 SPRING 2013

Ruiyang LinVipul Bhat

Julia ListonKrithika Iyer

OUTLINE

Project overviewBlock diagramDesign challengesIndividual contributionsProject demonstrationQuestions / discussion

PROJECT OVERVIEW Our team’s goal was to build a prototype of a

robot that can:Use GPS to locate a lost personAutonomously navigate towards the person while

avoiding obstacles Made up of two parts:

Rescue-point transceiver, which communicates GPS coordinates via RF

ARV (Autonomous Rescue Vehicle), which navigates towards the transceiver

BLOCK DIAGRAM

Microcontroller (PIC32)

RF Receiver Module (Xbee

Pro)

Module

GPS Module

Ultra-Sonic Range Finder

Ultra-Sonic Range Finder

Ultra-Sonic Range Finder

Motor Drive

Battery Monitor Module

Analog

Analog

Analog

UART (8 bit)

UART (8 bit)

IR Receiver

Power Supply Module

PW

R O

N/O

FF

7.2 V

3.3V

PWR level (Analog)

Autonomous Rescue Vehicle (ARV)

BLOCK DIAGRAM (CONTINUED)

+3.3 VPower

Supply Module Microcontroller

RF Transmitter Module (Xbee

Pro)

GPS Module UART (9 bit)

Rescue-Point Transceiver

DESIGN CHALLENGES

Hardware issues – Motors draw a lot of current

No Compass - had to make calculations based on distance traveled

Quality of GPS module - had to accommodate for GPS error

Testing – GPS took a long time to find satellite, weather condition critical.

INDIVIDUAL CONTRIBUTIONS

Team Leader – Ruiyang Lin Team Member 2 – Krithika Iyer Team Member 3 – Julia Liston Team Member 4 – Vipul Bhat

TEAM LEADER – RUIYANG LIN

o Main Responsibilities: Motor drive, power supplyo Initial motor drive and power supply designo Battery monitor module designo PCB layouto Hardware:

o Motor drive, power supply, battery monitor module

o Helped with testing RF module and GPS moduleo Software:

o Initial programming (ADC, PWM, Timer)o Obstacle detection & Navigation algorithm

MEMBER 2 – KRITHIKA IYERo Main Responsibilities: RF and GPSo RF module hardware interfacing in the Rescue-

Point Transceiver and ARVo RF transmitter and receiver software

development o GPS module hardware interfacingo GPS data extracting and processing for

navigationo Debug circuit designo Software for Infrared Sensorso Helped Julia in the Navigation algorithm

MEMBER 3 – JULIA LISTONo Main Responsibility: Navigation Algorithm

o Initial designo Integration with GPS module

o Obstacle Detection Algorithmo Software organization and modularizationo Housing for the transceiver and mounting for the

ultrasonic sensorso General team support: website, soldering, hardware

testing

MEMBER 4 – VIPUL BHAT

o Main Responsibility: Obstacle Detection Algorithm

o Supporting role in Navigation Algorithmo Supporting role in motor drive and power

supply implementation o Assisted with GPS testingo Emergency team rescue

PROJECT DEMONSTRATION1. An ability to move and steer using appropriate motors and

drive systems2. An ability to transmit GPS coordinates from the rescue-

point transceiver to the robot via an RF module3. An ability to receive and process GPS coordinates on the

robot and move toward the given coordinates4. An ability to detect obstacles and navigate around them

using ultrasonic sensors.5. An ability to monitor the battery level of the robot

https://engineering.purdue.edu/477grp10/Documents/ARV_video.m4v

QUESTIONS / DISCUSSION