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