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Robotic Navigation Distance Robotic Navigation Distance Control PlatformControl Platform
By:By:
Scott SendraScott Sendra
Advisors:Advisors:
Dr. Donald R. SchertzDr. Donald R. Schertz
Dr. Aleksander MalinowskiDr. Aleksander Malinowski
April 29, 2004April 29, 2004
OverviewOverview
ObjectiveObjective Functional DescriptionFunctional Description System Block DiagramsSystem Block Diagrams Lab WorkLab Work ResultsResults Future Development and ResearchFuture Development and Research Equipment / Part ListEquipment / Part List SourcesSources QuestionsQuestions
ObjectiveObjective
Design and Build a Design and Build a Robotic PlatformRobotic Platform
• Maintain a fixed safety Maintain a fixed safety distancedistance
• Fixed steeringFixed steering• Small and economical Small and economical
systemsystem
ApplicationsApplications• RoboticsRobotics• Slow speed moving Slow speed moving
vehiclesvehicles• AutomotiveAutomotive
Functional DescriptionFunctional Description
Modes of OperationModes of Operation System I/OSystem I/O System DiagramsSystem Diagrams
Modes of OperationModes of OperationFixed Navigation ModeFixed Navigation Mode
• User enters fixed safety distance in feetUser enters fixed safety distance in feet• User enters User or Auto Out of Range ModeUser enters User or Auto Out of Range Mode• User presses activation buttonUser presses activation button
Increment / Decrement ModeIncrement / Decrement Mode• User is able to (increment / decrement) motor speed by User is able to (increment / decrement) motor speed by
one unit manuallyone unit manually
Modes of OperationModes of Operation
User Out of Range ModeUser Out of Range Mode• Followed object is out of range of sensorFollowed object is out of range of sensor• Robotic platform stopsRobotic platform stops• ““Out of Range” displayed on LCDOut of Range” displayed on LCD• User reactivates navigation controls by pressing 0User reactivates navigation controls by pressing 0• ““Following” displayed on LCDFollowing” displayed on LCD
Auto Out of Range ModeAuto Out of Range Mode • EMAC reactivates navigation controls when object is EMAC reactivates navigation controls when object is
detecteddetected
Modes of OperationModes of Operation
Stop / Reload ModeStop / Reload Mode• User is able to (stop / reload) motor speed manuallyUser is able to (stop / reload) motor speed manually
Navigation Control ModeNavigation Control Mode• User is able control Navigation ModeUser is able control Navigation Mode
System Inputs to EMACSystem Inputs to EMAC
User InputUser Input KeypadKeypad
Sensor InputSensor Input Ultrasonic sensorsUltrasonic sensors
• 1 sensor for distance 1 sensor for distance controlcontrol
Robotic Platform
Motor
EMAC Microcontroller
Distance Control Sensor
Robotic Platfor
mSteering
LCD Display
Keypad(User Input)
System Outputs from EMACSystem Outputs from EMAC
LCD DisplayLCD Display• Current mode of operationCurrent mode of operation
• User required input User required input informationinformation
Robotic Platform MotorRobotic Platform Motor Robotic Platform SteeringRobotic Platform Steering Trigger Pulse for SensorTrigger Pulse for Sensor
Robotic Platform
Motor
EMAC Microcontroller
Distance Control Sensor
Robotic Platfor
mSteering
LCD Display
Keypad(User Input)
System Sensor DiagramSystem Sensor Diagram
Robotic Platform(R/C Car)
DistanceSensor
Moving Object(Similar size to robotic platform)
System Block DiagramsSystem Block Diagrams
HardwareHardware• Subsystem FunctionSubsystem Function• I/O of SubsystemI/O of Subsystem
SoftwareSoftware• Modes of Operation FlowchartsModes of Operation Flowcharts
Sensor SubsystemSensor Subsystem
SRF04 Ultrasonic SRF04 Ultrasonic Pulse SensorPulse Sensor
Sensor Input SignalSensor Input Signal• Trigger Pulse of 1.5 msTrigger Pulse of 1.5 ms
Sensor Output SignalsSensor Output Signals• Output signal related to Output signal related to
distancedistance• PWM at 33 HzPWM at 33 Hz
Electric Motor SubsystemElectric Motor Subsystem
ESC and Electric MotorESC and Electric Motor
Input signalInput signal• PWM signal from 1.0 ms to PWM signal from 1.0 ms to
1.7 ms positive pulse width at 1.7 ms positive pulse width at 33 Hz33 Hz
Output speedOutput speed• Motor’s shaft speed variesMotor’s shaft speed varies• Full forward speed with 1.7 ms Full forward speed with 1.7 ms
pulse widthpulse width• Stop with 1.0 ms pulse widthStop with 1.0 ms pulse width
Steering SubsystemSteering Subsystem
Input signalInput signal• PWM signal from 1.1 PWM signal from 1.1
ms to 1.9 ms positive ms to 1.9 ms positive pulse width at 33 Hz pulse width at 33 Hz with 1.5 ms as neutralwith 1.5 ms as neutral
OutputOutput• Rotational servo horn Rotational servo horn
to translational to translational movement of steering movement of steering rodrod
Hardware Subsystem Block Hardware Subsystem Block DiagramDiagram
Robotic PlatformSteering
Subsystem
PWM SignalTranslates Steering Rod
EMAC Microcontroller
Robotic Platform Motor
Subsystem
PWM Signal
Power to Drive Wheels on R/C Car
Distance Control Sensor
Subsystem
PWM Signal
Trigger Pulse
Main Software FlowchartMain Software Flowchart
Out of Range Mode Display Prompt:Press 1 for UserPress 2 for Auto
Keypad:User Enters Out of Range Mode
EMAC Initialization
LCD Initialization
Keypad Initialization
Keypad:User enters fixed distance
Fixed Steering Control
Display Prompt:Press 0 to Activate
Keypad:User Enters 0
Fixed Distance Display Prompt:Enter 1-9 feet:
Control = 0
Main Software FlowchartMain Software Flowchart(Fixed Navigation Mode)(Fixed Navigation Mode)
Fixed Distance Control
Check if signal from
sensor
Enter User/Auto Out of Range Mode
No
Yes
Increment Motor Speed Decrement Motor Speed
Measure > Desired Measure < Desired
Measure = Desired
Check Control Variable
Check Keypad
1
0
No
Yes
Call Software Mode Pressed
User/Auto FlowchartUser/Auto Flowchart User/Auto Out of Range Mode
Display: Out of Range
User Out of Range Mode Auto Out of Range Mode
Stop Electric Motor
Display:Wait for object
Display:Press 0 to Activate
Display:Following
Return
Waits for User to Press 0
Increment / Decrement Increment / Decrement Motor Speed FlowchartsMotor Speed Flowcharts
Call IncMotorSpeed ()
Keypad:User Presses Increment Motor
Speed Button C
Display Prompt:Manual Inc SpeedPress 0 to Activate
Call DecMotorSpeed ()
Keypad:User Presses Decrement Motor
Speed Button E
Display Prompt:Manual Dec SpeedPress 0 to Activate
ReturnReturn
Stop / Reload FlowchartsStop / Reload Flowcharts
Stop Electric Motor
Keypad:User Presses Stop Button B
Display Prompt:Manual Stop
Press 0 to Activate
Loads Last Motor Speed
Keypad:User Presses Reload Motor
Speed Button D
Display Prompt:Reload Last SpeedPress 0 to Activate
Save Current Motor Speed
Return
Return
Navigation ControlNavigation Control
Return
Check Control Variable
10
Stop Electric Motor
Keypad:User Presses Control Button 0
Toggle Control Bit
Display:Following
Display:Deactivated
Return
Lab WorkLab Work
Ultrasonic trigger pulse and servo input signals Ultrasonic trigger pulse and servo input signals with 1.5 ms at 33 Hz being neutral using Timer 2with 1.5 ms at 33 Hz being neutral using Timer 2
ESC reprogrammedESC reprogrammed• Reprogrammed :Reprogrammed : 1.0 ms stop1.0 ms stop
1.7 ms full forward1.7 ms full forward Ultrasonic PWM signal measurements using Ultrasonic PWM signal measurements using
interruptsinterrupts Output PWM signal using Timer 2 on EMAC to Output PWM signal using Timer 2 on EMAC to
control motor speedcontrol motor speed
Lab WorkLab Work
Control StrategyControl Strategy• Current distance is smaller than user-defined Current distance is smaller than user-defined
distancedistance-Decrease PWM signal to motor by fixed number-Decrease PWM signal to motor by fixed number
• Current distance is larger than user-defined Current distance is larger than user-defined distancedistance
--Increase PWM signal to motor by fixed numberIncrease PWM signal to motor by fixed number
Lab WorkLab Work
Circuit DiagramCircuit Diagram
ResultsResults
All software modes are completeAll software modes are complete EMAC on the robotic platform triggers EMAC on the robotic platform triggers
ultrasonic sensor and measures PWM signal ultrasonic sensor and measures PWM signal from sensorfrom sensor
EMAC increases or decreases motor speed EMAC increases or decreases motor speed Robotic platform maintains the entered Robotic platform maintains the entered
safety distance from objectsafety distance from object
ResultsResults
ResultsResults
Future Development and Future Development and ResearchResearch
Model and determine transfer function of Model and determine transfer function of robotic platformrobotic platform
Implement a better control strategyImplement a better control strategy Incorporate steering of platform using more Incorporate steering of platform using more
sensorssensors Using fuzzy logic steering to allow platform Using fuzzy logic steering to allow platform
to steer non-linearly around cornersto steer non-linearly around corners
Equipment and Parts ListEquipment and Parts List
Hitec HS-303 ServoHitec HS-303 Servo Kyosho Hoppin Mad RTR R/C CarKyosho Hoppin Mad RTR R/C Car Team Novak Rooster electronic speed Team Novak Rooster electronic speed
controllercontroller HP 8011A Pulse GeneratorHP 8011A Pulse Generator SRF04 Ultrasonic pulse sensorsSRF04 Ultrasonic pulse sensors 80535 EMAC Microcontroller80535 EMAC Microcontroller
SourcesSources
http://www.teamnovak.com/Download/acrobat/rooster_superr.pdfhttp://www.teamnovak.com/Download/acrobat/rooster_superr.pdf http://www.hitecrcd.com/Servos/DiscontinuedServos/HS303.pdfhttp://www.hitecrcd.com/Servos/DiscontinuedServos/HS303.pdf http://www.robot-electronics.co.uk/shop/http://www.robot-electronics.co.uk/shop/
Ultrasonic_Ranger_SRF041999.htmUltrasonic_Ranger_SRF041999.htm http://www.i-car.com/html_pages/about_icar/current_events_news/http://www.i-car.com/html_pages/about_icar/current_events_news/
advantage/advantage_online_archives/2004/021604.htmladvantage/advantage_online_archives/2004/021604.html http://www.gavrila.net/Computer_Vision/Smart_Vehicles/Media_Coverage/http://www.gavrila.net/Computer_Vision/Smart_Vehicles/Media_Coverage/
spectrum.pdfspectrum.pdf http://www.ece.msstate.edu/classes/design/ece4532/2003_spring/cruise_control/http://www.ece.msstate.edu/classes/design/ece4532/2003_spring/cruise_control/
QUESTIONSQUESTIONS
??
Project Website: http://cegt201.bradley.edu/projects/proj2004/distcont/Project Website: http://cegt201.bradley.edu/projects/proj2004/distcont/