Autonomous System For 3D Autonomous System For 3D Layout RecordingLayout Recording

Macedonian Team : Macedonian Team : Zarko KostadinovskiZarko KostadinovskiStefan JanevStefan JanevIgor SimevskiIgor SimevskiLazo DimitrievskiLazo Dimitrievski

Team Leader : Branislav GerazovTeam Leader : Branislav Gerazov

Autonomous System Parts:Autonomous System Parts:

1.ASURO Robot Kid 1.ASURO Robot Kid

2.EasyBT – Bluetooth Module2.EasyBT – Bluetooth Module

3.Three-Axis Accelerometer Board 3.Three-Axis Accelerometer Board

1.ASURO Robot Kit1.ASURO Robot KitThe robot is controlled by ATmega8l The robot is controlled by ATmega8l microcontroller which runs DC motors microcontroller which runs DC motors according to the information provided by according to the information provided by the sensorsthe sensors

2.EasyBT – Bluetooth Module2.EasyBT – Bluetooth Module- enables wireless communication- enables wireless communication

3.Three-Axis Accelerometer Board3.Three-Axis Accelerometer Board

- gives positioning in 3D space- gives positioning in 3D space

ASURO CodeASURO Code- The code was written from scratch- The code was written from scratch

- IAR Embedded Workbench was used- IAR Embedded Workbench was used

- Developed using ATmega8L datasheet - Developed using ATmega8L datasheet and user manuals and user manuals

PC sidePC side Linux implementationLinux implementation OpenGL graphics libraryOpenGL graphics library BSD sockets for Bluetooth BSD sockets for Bluetooth

communicationcommunication

Final ProductFinal Product

Autonomous System For 3D Layout Autonomous System For 3D Layout RecordingRecording

The system provides path mappingThe system provides path mapping the path is marked and mapped in 3D spacethe path is marked and mapped in 3D space

Robot recorded data is sent via bluetooth Robot recorded data is sent via bluetooth connection to the PCconnection to the PC Real-time 3D path is drawn by PCReal-time 3D path is drawn by PC

Final ProductFinal Product

Autonomous System For 3D Layout Autonomous System For 3D Layout RecordingRecording

Cheap electronic parts are used, which Cheap electronic parts are used, which provide useful tool for:provide useful tool for: accurate length measuringaccurate length measuring maximum height reachedmaximum height reached accurate 3D mapping of the pathaccurate 3D mapping of the path

Final ProductFinal Product

Autonomous System For 3D Layout Autonomous System For 3D Layout RecordingRecording

Advantages:Advantages: IndependenceIndependence battery power supplybattery power supply wireless communication with other wireless communication with other systems (especially PC)systems (especially PC)

Problems met Problems met - UART initialization (solved)- UART initialization (solved)

- AD convertor initialization (solved)- AD convertor initialization (solved)

- Bluetooth initialization (solved)- Bluetooth initialization (solved)

- Burned transistors in H-Bridge drivers on - Burned transistors in H-Bridge drivers on motors (solved)motors (solved)

- Different phototransistor focus length - Different phototransistor focus length (solved)(solved)

Problems met Problems met - Flash programming of ASURO (solved)- Flash programming of ASURO (solved)

- C Libraries (solved)- C Libraries (solved)

- Tire slipping (solved)- Tire slipping (solved)

- AD pin external multiplexing (solved)- AD pin external multiplexing (solved)

- External light source (solved)- External light source (solved)

- Path tracking (solved)- Path tracking (solved)

Problems met Problems met - Trigonometry of 3D space (solved)- Trigonometry of 3D space (solved)

- 3D path rendering (solved)- 3D path rendering (solved)

- OpenGL scaling (solved)- OpenGL scaling (solved)

- Accelerometer readings went haywire (not - Accelerometer readings went haywire (not solved)solved)

- RFCOMM communication problem (not - RFCOMM communication problem (not solved)solved)

Problems met Problems met - DC motor power loss (not solved)- DC motor power loss (not solved)

- Not working at the end (not solved)- Not working at the end (not solved)

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