locomotion jad farah long quy patrick swann korhan demirkaya ngoc mai navigation

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

Assembly

unique wire layout

and alternative

Assembly

• switches for logic & motor power

• fuses

Mounting

• Various Sensors • H-Bridge

Mounting

• GPS & Compass• Beagle Board• AVRs

• HBridge + Voltage Regulator

• Wheel Encoder

• Compass

• GPS + UART + RSSI

• 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

• Python code

• WHAT CODE DOES

• GPS equation estimates coordinates, distance, & direction on map

• RSSI equation to estimate distance of beacons

• 2 UART – 5V & 3.3V output

Sensors

NEED BETTER EXAMPLES HERE!

NEED BETTER EXAMPLES HERE!

NEED BETTER EXAMPLES HERE!

Milestones

Budget

Beagle Board $150

AVRs $105

GPS $50

Batteries $82

Sensors $78

Labor Cost $0

Website

http://turtle.sdsu.edu