Post on 01-Apr-2015
Robin Bailey – Team Lead, HW/SW
Billy Rond – PC/Embedded SW
Daniel Morgan – PC SW
David McDougall – Embedded HW/SW
What is the Robo-Magellan?Why build it?
Project GoalsBlock DiagramSystem Overview
Mechanical ApproachHardware ApproachSoftware Approach
CostsScheduleQuestions
Objective:Robot to navigate autonomously to a GPS referenced target
Robot:Less than 4’x4’x4’ in size and 50lbs in weight. Is to be Fully Autonomous.
Target:A GPS Coordinate marked with a Orange Traffic Cone. The Robot must touch the cone.
Course:Various Terrain. Robot must traverse grass, asphalt, sidewalk, dirt, curbs, harmless animals, weeds, gullies, etc. GPS signal will be intermittent due to surroundings.
Who is Ferdinand Magellan?16th Century ExplorerFirst to Cross all
Meridians on the GlobeFirst Expedition westward
from Europe to AsiaKnown for Wearing a
BeardLater drawn by 4th Grader
Devon EssickHonored in late 20th
Century by having a Robot Competition named in his honor
Real World problemRobot navigation in an uncontrolled environmentAutonomous navigation has a variety of applications
Multi-Disciplinary projectSoftware – Embedded and PCHardware – Microcontroller, Sensors, Motors, etcMechanical – Platform
National Competitions Recognition for Team – Employer and PeersRecognition for USU
Functional Robot PlatformInterface with PCUser InterfaceBasic High-Level Navigational Behaviors
Clod Buster Gearboxes and WheelsClod Mod Racing Rock Crawling
ChassisDual Integy 55T Lathe MotorsDual High Torque Steering Servos7.2v 3300mAh NiMh BatteryDual Novak XRS Speed ControllersFlux Capacitor invented by the
Late Emmet Brown on Nov 5th 1955
CMU CameraColor Sensing to detect the Traffic
ConeRand McNally GPS ReceiverDevantech SRF04 Ultrasonic RangersSharp GP2D02 Infrared Rangers
Obstacle DetectionDevantech Digital Compass
Direction sensingHall Effect Odometer Sensors
Odometry
Radio Modem Uart-0 TX-RXLCD Screen Uart-0 TX / 4-
DIOCMU Camera Uart-1 TX-RXGPS Receiver 2-DIOUltrasonic Rangers (2)2-DIOInfrared Rangers (2)2-DIODigital Compass I2C Odometer 8-DIOServos 5-PWM-DIOMotor Controllers 1-PWM-DIO
RS-232 InterfaceSeparate Microcontroller for
Decoding/InterfacingCold Start-up Time – 2 to 3 MinutesDecoding the NMEA String
$GPRMC,183729,A,3907.356,N,12102.482,W,000.0,360.0,080301,015.5,E*6F $GPRMB,A,,,,,,,,,,,,V*71 $GPGGA,183730,3907.356,N,12102.482,W,1,05,1.6,646.4,M,-24.1,M,,*75 $GPGSA,A,3,02,,,07,,09,24,26,,,,,1.6,1.6,1.0*3D $GPGSV,2,1,08,02,43,088,38,04,42,145,00,05,11,291,00,07,60,043,35*71 $GPGSV,2,2,08,08,02,145,00,09,46,303,47,24,16,178,32,26,18,231,43*77 $PGRME,22.0,M,52.9,M,51.0,M*14 $GPGLL,3907.360,N,12102.481,W,183730,A*33 $PGRMZ,2062,f,3*2D $PGRMM,WGS 84*06 $GPBOD,,T,,M,,*47 $GPRTE,1,1,c,0*07
Problems with GPS…InaccurateIntermittent
GPS cannot be used for…Dead Reckoning - PositioningAbsolute Heading - DirectionDistance Traveled – Odometry
GPS will be used for…Overall Progress toward GoalProvide a Virtual Goal
LocationWorld Position
Track Color blobs at 50 fpsTrack Motion at 26 fps176 x 255 ResolutionB/W Analog video outAutomatic two axis color
trackingControl 5 Servo outputs
UltrasonicRange: 3 cm to 3 mDigital I/OSensitivity: 3 cm stick @ >
2m IR
Range: 4 in to 30 inDigital I/OOnly takes measurements
upon request saving power
Provides a heading for the robot
Resolution of 0.1⁰ Repeatability of 3.5 ⁰I²C Interface
**Enlarged to Show Texture
Provides information to the robot on distance traveled
Used, along with compass data,to calculate relative position
Wagon Wheel Odometer
Will connect the MAVRIC-IIB µP to the Laptop which will handle all the mapping.
Laptop-PC SoftwareUser InterfaceHandle High-Level BehaviorsMapping and Path PlanningMicrocontroller Interface
Microcontroller SoftwareHandle Low-Level BehaviorsControl SensorsControl Actuators/MotorsReceive Commands and Report to PC
Development EnvironmentCommand Line Compilation in Cygwin/LinuxText Based Free Editors e.g. Notepad++/Crimson
EditorDevelop PC & Microcontroller software
simultaneously Laptop-PC Software
Language: CCompiler: Microsoft Visual StudioAdaptable to Embedded Controller e.g. Arm TS-72000
Microcontroller SoftwareLanguage: CCompiler: WinAVR GNU C CompilerMay be targeted to many Atmel microcontrollers
Data LoggerCommand PromptRobot StatusMapping (future)
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