Locomotion Jad Farah Long Quy Patrick Swann Korhan Demirkaya Ngoc Mai Navigation Steven Weaver Denden Tekeste Ali Alkuwari Marcus Schaffer
Jan 20, 2016
LocomotionJad Farah Long Quy Patrick Swann Korhan Demirkaya Ngoc Mai NavigationSteven Weaver Denden Tekeste Ali Alkuwari Marcus Schaffer
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)
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
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
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
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)
Assembly
• aluminum body
• specially designed PCBs
unique wire layout
and alternative
Assembly
Assembly
• switches for logic & motor power
• fuses
Mounting
• Various Sensors • H-Bridge
Mounting
• GPS & Compass• Beagle Board• AVRs
• HBridge + Voltage Regulator
• GPS
• Compass
• UART
• Wheel Encoder
• Daughter board
• Sensors: Beacon, Ultrasonic, & Flex
PCB Design
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
Beagle Board
• Robot brain – high level control
• Python code
• GPS parsing
• Object avoidance
AVR
• serial coding for sensors
• powered with one 7.2V
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
Sensors
• Turtle’s Body
• Parts Mounted
• Code
• PCB
• Interface Beagle Board & AVR together
Milestones
Budget
Beagle Board $150
AVRs $105
GPS $50
Batteries $82
Sensors $78
Labor Cost $0