AlienBot project

Juan David Rios – Graduate Student ECEIMDL FALL 2012Dr. A. Antonio Arroyo - Eric M. SchwartzNovember 29/2012

Summary

1. General design Global structure of AlienBot

2. Hardware – Final components Components of the robot

3. Behaviors and software Explanation of the behaviors and the

software4. Conclusions

General design

Hardware

Energy sources

Lipo battery – 5000 mAh

Lipo battery – 2200 mAh

Drivers

H bridge MC33926

Power regulator6Vdc

NPN Transistor2N2222

Mechanical components

Sensors

Metalgear motor100 rpm

Pan/tilt system

Futaba servo 3004

Bluetooth module

IR array sensor

Ultrasonic module

HTC one S camera

MC33926 – Current sensorLaser pointer

Main devices Feedback devices

Arduino mega ADK

HTC one S

Lenovo laptop

Laptop display

Laptop speakers

Behaviors and software

Behaviors and precedence:

1) Avoid obstacles2) Color tracking3) Line tracking4) Move forward

Obstacle avoidance

The ultrasonic modules are the key component of this behavior

L F R Action0 0 0 Nothing0 0 1 Turn left and move forward

0 1 0Move backwards, then turn (left or right) randomly and move forward

0 1 1 Turn left and move forward1 0 0 Turn right and move forward

1 0 1Move backwards, then turn (left or right) randomly and move forward

1 1 0 Turn right and move forward

1 1 1Move backwards, then turn (left or right) randomly and move forward

Threshold: 20 cm

Line tracking

Using an array of 8 IR sensors A digital PD algorithm was used to

control this behavior.

Readline value Meaning0 Line is over sensor 1

1000 Line is over sensor 22000 Line is over sensor 32500 Line is between sensor 3 and 47000 Line is over sensor 8

Color tracking

Color detection using Python and OpenCV with a smartphone camera. Servos controlled by Arduino.

Condition ActionErrorx<0 Move right (pan servo)Errorx>0 Move left (pan servo)Errory<0 Move down (tilt servo)Errory>0 Move up (tilt servo)

Logic of AlienBot

This course was awesome, I learned a lot and build my first robot.

A design of a robot is a very complex task. It requires knowledge several disciplines.

Working with one behavior is not the same as working with several behaviors (sample time, synchronization, etc.)

Conclusions

Questions?