1 Robotics Challenge Overview. 2 Why? -Viking was tested at the Dunes -Develop intelligent robots...
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2
Why?
-Viking was tested at the Dunes-Develop intelligent robots-Explore Robotics
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What to expect
-Challenging Environment- Wind, Sand, Iron, Water
-Navigate to a central beacon
-4 Courses- 1 - Can the robot find the beacon on level terrain- 2 – Above plus obstacles to demonstrate obstacle
avoidance- 3 – Above plus uneven terrain to demonstrate finding a
safe course- - 4 Above plus even more challenges
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Parts to design
-Motion- Frame and motors
-Sensors - IR, Ultra Sonic, Accelerometer, Compass, Radios, bump
sensors-Direction Determination- The Brains and determining where to go.
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CSU Robotics Challenge Design
Credit: Symposium 2010 presentation
COSCG 2010
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Basic Design Constraints
• <1.5 Kg vehicle weight
• ~ $500 hardware cost
• Must stay on ground
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• Pre-Manufactured base– 4-wheel drive rock crawler– Single motor– Standard steering– High articulation suspension
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Rover 1
• Benefits– Removes mechanical issues from
development cycle– Robust platform – it’s a rock crawler– Allows rapid electronics package and software
development
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Electronics
• Sensors– 3 IR sensors – two forward one rearward
• Not mechanically hindered by sand
– 1 forward sonar sensor• Good range and clean data
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Electronics
• Sensors– Digital Compass
• Highly accurate 1 degree resolution serial communication
– 433 MHz transceiver• Used by challenge organizers as base station
– Contact switch tilt sensor• Basic vehicle pitch and yaw data
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Software
• Integration of sensors and outputs– Sometimes straightforward
• Calibration– What does the sensor data tell us
• High level logic– How to act on the sensor data
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Testing
• Conducted mainly in the lab and parking lot
• Allowed for trouble shooting and refinement of obstacle avoidance
• Did not allow for testing and refinement of hole avoidance
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Performance
• Robot Challenge – Completed one obstacle course– Found north– Liked holes– IR vs. SONAR– Polarization– Magnetic Sand
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Lessons Learned
• Identify and address developmental bottlenecks early– Either component or personnel
• Start work earlier and more often than you think
• Plan for problems
• Need to use better and more sensors for rover to make intelligent decisions
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Beacon
• Basestation produced by PCC
• Electronics just about complete
• Protocol– 255 255 ID Angle CRC 255– ID is [1, 2, 3]– Angle is Compas heading / 2
• Final detials posted along with results on Jan 1, 2011
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Each School Update
• Contact Information updates?
http://spacegrant.colorado.edu/index.php/rc-participants
• Team plan
• Initial entry concept
• Any help
• Lessons Learned from previous years.
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Resources
– Webpage • http://spacegrant.colorado.edu/index.php/robotics-
challenge
– Sparkfun.com• Parts and ideas