Robotic Navigation Robotic Navigation Distance Control Distance Control Platform Platform By: By: Scott Sendra Scott Sendra Advisors: Advisors: Dr. Donald R. Schertz Dr. Donald R. Schertz Dr. Aleksander Malinowski Dr. Aleksander Malinowski March 9, 2004 March 9, 2004
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Robotic Navigation Distance Control Platform By: Scott Sendra Advisors: Dr. Donald R. Schertz Dr. Aleksander Malinowski March 9, 2004.
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Robotic Navigation Distance Robotic Navigation Distance Control PlatformControl Platform
By:By:
Scott SendraScott Sendra
Advisors:Advisors:
Dr. Donald R. SchertzDr. Donald R. Schertz
Dr. Aleksander MalinowskiDr. Aleksander Malinowski
March 9, 2004March 9, 2004
OverviewOverview
ObjectiveObjective Functional DescriptionFunctional Description System Block DiagramsSystem Block Diagrams Lab WorkLab Work Equipment/Part ListEquipment/Part List Original Schedule of TasksOriginal Schedule of Tasks Tasks CompletedTasks Completed Remaining Task to be CompletedRemaining Task to be Completed Revised Schedule of TasksRevised Schedule of Tasks
ObjectiveObjective
Design and Build a Robotic PlatformDesign and Build a Robotic Platform• Maintain a fixed safety distanceMaintain a fixed safety distance
• Fixed steeringFixed steering
Functional DescriptionFunctional Description
Modes of OperationModes of Operation System I/OSystem I/O System DiagramsSystem Diagrams
Modes of OperationModes of Operation
Fixed Navigation ModeFixed Navigation Mode • User enters User or Auto Out of Range ModesUser enters User or Auto Out of Range Modes
• User enters fixed safety distance in feetUser enters fixed safety distance in feet
• User presses activation buttonUser presses activation button
Time Navigation ModeTime Navigation Mode • User enters safety time in secondsUser enters safety time in seconds
Modes of OperationModes of Operation
User Out of Range ModeUser Out of Range Mode• Followed object is out of rangeFollowed object is out of range• Robotic platform stopsRobotic platform stops• ““Out of Range” displayed on LCDOut of Range” displayed on LCD• User reactivates navigation controlsUser reactivates navigation controls• Clears LCD displayClears LCD display
Auto Out of Range ModeAuto Out of Range Mode • EMAC reactivates navigation controls when object EMAC reactivates navigation controls when object
detecteddetected
Modes of OperationModes of Operation
Stop/Start ModeStop/Start Mode• User is able to start/stop navigation mode manuallyUser is able to start/stop navigation mode manually
Sensor Output SignalsSensor Output Signals• Output signal related to Output signal related to
distancedistance
• PWM at 33 HzPWM at 33 Hz
Electric Motor SubsystemElectric Motor Subsystem
Input signalInput signal• PWM signal from 1.0 ms to 1.7 ms positive PWM signal from 1.0 ms to 1.7 ms positive
pulse width at 33 Hzpulse width at 33 Hz
Output speedOutput speed• Motor’s shaft speed variesMotor’s shaft speed varies• Full forward speed with 1.7 ms pulse widthFull forward speed with 1.7 ms pulse width• Stop with 1.0 ms pulse widthStop with 1.0 ms pulse width
Steering SubsystemSteering Subsystem
Input signalInput signal• PWM signal from 1.1 PWM signal from 1.1
ms to 1.9 ms positive ms to 1.9 ms positive pulse width at 50 Hz pulse width at 50 Hz with 1.5 ms as neutralwith 1.5 ms as neutral
Servo input signals with 1.5 ms at 33 Hz being Servo input signals with 1.5 ms at 33 Hz being neutralneutral
Full understand of ESC required signal inputsFull understand of ESC required signal inputs Rooster ESC reprogrammedRooster ESC reprogrammed Reprogrammed :Reprogrammed : 1.0 ms stop1.0 ms stop
1.7 ms full forward1.7 ms full forward Servo, ESC and Ultrasonic signals programmedServo, ESC and Ultrasonic signals programmed
Equipment and Parts ListEquipment and Parts List
Hitec HS-303 ServoHitec HS-303 Servo Kyosho Hoppin Mad RTR R/C CarKyosho Hoppin Mad RTR R/C Car Team Novak Rooster electronic speed Team Novak Rooster electronic speed