Date post: | 29-Jan-2016 |
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MIR – Mobile Intelligence Robot
By Jason Abbett and Devon Berry
Project Introduction
• Build and program a robot– Competition Requirements
•Size & Weight•Safety•Autonomous
– Competition Goals•Accuracy
– Successful Task Completion– Avoid Penalties
•Speed
Competition Task Specifics
• Four Cans– One Can per
Incoming Room– Different
Colored Cans– Different Colors
to Different Rooms
Competition Specifics
• Virtual Walls & Ceiling
• Best of Two Rounds– Fastest Six
Teams to Final– Three Workers
with Colored Coveralls
Team Organization
• CS Team– Jason Abbett– Devon Berry
• ECE Team– Michael Hall– Jeff Croxell– Eddie Inlow
Hardware Design
• Outputs– Four Motors– Five Servos
• Inputs– Three Light Sensors– Three Sonar Sensors– Two Optical Mice– One CMU Camera
Initial Plan
• Use Line Following– Light Sensors (Adjust
Motors)– Mouse & Compass (Backup)
• Use Vision for Rooms– CMU Camera (ID & Center)– Sonar (Grab)
Actual Implementation
• Use Line Following Straight– Light Sensors (Adjust Motors)– Mouse (Trigger)
• Use Navigation System Turning– Mouse (Distance)– Control System (Motor PID Control)
• Use Sound for Rooms– Sonar (Center & Grab)– CMU Camera (ID)
Software Design
• Main Module– Sensor Fusion
• High Level Modules– Control System– Navigation System– Arm States– Grab Can
• Low Level Modules– Input Interfaces– Output Interfaces
Structure Diagram
Motors
Servos
Sonar Sensor
s
Light Sensor
s
Optical
Mice
CMU Camer
a
Control Syste
m
Navigation System
Sensor Fusion
Grab Can
Arm State
s
Low Leve
l
High Leve
l
Main Functio
n
Legend
Output
Track Testing
• Half of total project time• Several runs on track
after each new code implementation
Integration Testing
• Integrate module into main function
• Do track test again
Project Timeline
Day Before Competition
• Practice board in hotel– Sign up for 30 minute slot– Completed course twice– Only three teams
completed track
Competition
• Each team had two runs on the track
• After first run – One 20 sec penalty for not
attempting to grab one of the cans– Placed 2nd out of 37
2nd Run
• Exceeded time limit• Obtained one penalty
– Did not attempt to pick up one can (20sec)
• Placed 9th out of 37
Afterthoughts
• Claw worked great but was too much for this particular competition
• More light sensors• Smaller platform and wheels
Demo
Questions