Robo-Magellan

Robin Bailey – Team Lead, HW/SW

Billy Rond – PC/Embedded SW

Daniel Morgan – PC SW

David McDougall – Embedded HW/SW

What is the Robo-Magellan?Why build it?

Project GoalsBlock DiagramSystem Overview

Mechanical ApproachHardware ApproachSoftware Approach

CostsScheduleQuestions

Objective:Robot to navigate autonomously to a GPS referenced target

Robot:Less than 4’x4’x4’ in size and 50lbs in weight. Is to be Fully Autonomous.

Target:A GPS Coordinate marked with a Orange Traffic Cone. The Robot must touch the cone.

Course:Various Terrain. Robot must traverse grass, asphalt, sidewalk, dirt, curbs, harmless animals, weeds, gullies, etc. GPS signal will be intermittent due to surroundings.

Who is Ferdinand Magellan?16th Century ExplorerFirst to Cross all

Meridians on the GlobeFirst Expedition westward

from Europe to AsiaKnown for Wearing a

BeardLater drawn by 4th Grader

Devon EssickHonored in late 20th

Century by having a Robot Competition named in his honor

Real World problemRobot navigation in an uncontrolled environmentAutonomous navigation has a variety of applications

Multi-Disciplinary projectSoftware – Embedded and PCHardware – Microcontroller, Sensors, Motors, etcMechanical – Platform

National Competitions Recognition for Team – Employer and PeersRecognition for USU

Functional Robot PlatformInterface with PCUser InterfaceBasic High-Level Navigational Behaviors

Clod Buster Gearboxes and WheelsClod Mod Racing Rock Crawling

ChassisDual Integy 55T Lathe MotorsDual High Torque Steering Servos7.2v 3300mAh NiMh BatteryDual Novak XRS Speed ControllersFlux Capacitor invented by the

Late Emmet Brown on Nov 5th 1955

CMU CameraColor Sensing to detect the Traffic

ConeRand McNally GPS ReceiverDevantech SRF04 Ultrasonic RangersSharp GP2D02 Infrared Rangers

Obstacle DetectionDevantech Digital Compass

Direction sensingHall Effect Odometer Sensors

Odometry

Radio Modem Uart-0 TX-RXLCD Screen Uart-0 TX / 4-

DIOCMU Camera Uart-1 TX-RXGPS Receiver 2-DIOUltrasonic Rangers (2)2-DIOInfrared Rangers (2)2-DIODigital Compass I2C Odometer 8-DIOServos 5-PWM-DIOMotor Controllers 1-PWM-DIO

RS-232 InterfaceSeparate Microcontroller for

Decoding/InterfacingCold Start-up Time – 2 to 3 MinutesDecoding the NMEA String

$GPRMC,183729,A,3907.356,N,12102.482,W,000.0,360.0,080301,015.5,E*6F $GPRMB,A,,,,,,,,,,,,V*71 $GPGGA,183730,3907.356,N,12102.482,W,1,05,1.6,646.4,M,-24.1,M,,*75 $GPGSA,A,3,02,,,07,,09,24,26,,,,,1.6,1.6,1.0*3D $GPGSV,2,1,08,02,43,088,38,04,42,145,00,05,11,291,00,07,60,043,35*71 $GPGSV,2,2,08,08,02,145,00,09,46,303,47,24,16,178,32,26,18,231,43*77 $PGRME,22.0,M,52.9,M,51.0,M*14 $GPGLL,3907.360,N,12102.481,W,183730,A*33 $PGRMZ,2062,f,3*2D $PGRMM,WGS 84*06 $GPBOD,,T,,M,,*47 $GPRTE,1,1,c,0*07

Problems with GPS…InaccurateIntermittent

GPS cannot be used for…Dead Reckoning - PositioningAbsolute Heading - DirectionDistance Traveled – Odometry

GPS will be used for…Overall Progress toward GoalProvide a Virtual Goal

LocationWorld Position

Track Color blobs at 50 fpsTrack Motion at 26 fps176 x 255 ResolutionB/W Analog video outAutomatic two axis color

trackingControl 5 Servo outputs

UltrasonicRange: 3 cm to 3 mDigital I/OSensitivity: 3 cm stick @ >

2m IR

Range: 4 in to 30 inDigital I/OOnly takes measurements

upon request saving power

Provides a heading for the robot

Resolution of 0.1⁰ Repeatability of 3.5 ⁰I²C Interface

**Enlarged to Show Texture

Provides information to the robot on distance traveled

Used, along with compass data,to calculate relative position

Wagon Wheel Odometer

Will connect the MAVRIC-IIB µP to the Laptop which will handle all the mapping.

Laptop-PC SoftwareUser InterfaceHandle High-Level BehaviorsMapping and Path PlanningMicrocontroller Interface

Microcontroller SoftwareHandle Low-Level BehaviorsControl SensorsControl Actuators/MotorsReceive Commands and Report to PC

Development EnvironmentCommand Line Compilation in Cygwin/LinuxText Based Free Editors e.g. Notepad++/Crimson

EditorDevelop PC & Microcontroller software

simultaneously Laptop-PC Software

Language: CCompiler: Microsoft Visual StudioAdaptable to Embedded Controller e.g. Arm TS-72000

Microcontroller SoftwareLanguage: CCompiler: WinAVR GNU C CompilerMay be targeted to many Atmel microcontrollers

Data LoggerCommand PromptRobot StatusMapping (future)

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