Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc...
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Transcript of Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc...
![Page 1: Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc MaiSteven Weaver.](https://reader035.fdocuments.net/reader035/viewer/2022070413/5697bfa21a28abf838c9627c/html5/thumbnails/1.jpg)
Ali Alkuwari Patrick Swann Jad Farah Marcus Schaffer Korhan Demirkaya
Long Quy Denden Tekeste Ngoc Mai Steven Weaver
![Page 2: Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc MaiSteven Weaver.](https://reader035.fdocuments.net/reader035/viewer/2022070413/5697bfa21a28abf838c9627c/html5/thumbnails/2.jpg)
Project Description
• Design and Build an Autonomous Robot
• Robot must successfully navigate around a predetermined course
• Robot must pass through selected beacons
![Page 3: Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc MaiSteven Weaver.](https://reader035.fdocuments.net/reader035/viewer/2022070413/5697bfa21a28abf838c9627c/html5/thumbnails/3.jpg)
Project Requirements
• Detect beacons within 15 - 25 feet
• Fits within a 16”x16”x16” cube
• Has a clearly labeled emergency stop switch
![Page 4: Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc MaiSteven Weaver.](https://reader035.fdocuments.net/reader035/viewer/2022070413/5697bfa21a28abf838c9627c/html5/thumbnails/4.jpg)
Yertle’s Journey
![Page 5: Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc MaiSteven Weaver.](https://reader035.fdocuments.net/reader035/viewer/2022070413/5697bfa21a28abf838c9627c/html5/thumbnails/5.jpg)
Flow Chart
![Page 6: Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc MaiSteven Weaver.](https://reader035.fdocuments.net/reader035/viewer/2022070413/5697bfa21a28abf838c9627c/html5/thumbnails/6.jpg)
HOW WAS THIS ACHIEVED Navigation
◦ Beagleboard
◦ AVR microcontroller
◦ Ultrasonic Sensors
◦ Flex Sensors
◦ Compass
◦ GPS
Locomotion◦ AVR microcontroller
◦ H-Bridge
◦ Wheel Encoders
◦ Power Supply
![Page 7: Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc MaiSteven Weaver.](https://reader035.fdocuments.net/reader035/viewer/2022070413/5697bfa21a28abf838c9627c/html5/thumbnails/7.jpg)
NAVIGATION
![Page 8: Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc MaiSteven Weaver.](https://reader035.fdocuments.net/reader035/viewer/2022070413/5697bfa21a28abf838c9627c/html5/thumbnails/8.jpg)
Block Diagram: Navigation
![Page 9: Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc MaiSteven Weaver.](https://reader035.fdocuments.net/reader035/viewer/2022070413/5697bfa21a28abf838c9627c/html5/thumbnails/9.jpg)
Path Finding
![Page 10: Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc MaiSteven Weaver.](https://reader035.fdocuments.net/reader035/viewer/2022070413/5697bfa21a28abf838c9627c/html5/thumbnails/10.jpg)
• Graph of course
• Destination Points are put into the code. • 14 x = [125, 256, 294, 85, 85, 80, 75, 75, 60, 60, 16, 16, 8, 8, 48,
48, 10, 10, 44, 10, 33]• 15 y = [170, 170, 66, 66, 55, 50, 50, 42, 42, 10, 10, 87, 87, 120,
127, 135, 135, 140, 150, 152, 167]
• Dead Reckoning and Compass to calculate current position• 20 delta_x = math.sin(compass) * feet traveled from last waypoint• 23 delta_y = math.cos(compass) * feet traveled from last
waypoint
• Compass direction computed:• 9 distance = calcDistance(pt1, pt2)• 11 diff = pt2[1] - pt1[1]]• 16 return math.asin(diff/distance)
Path Finding
![Page 11: Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc MaiSteven Weaver.](https://reader035.fdocuments.net/reader035/viewer/2022070413/5697bfa21a28abf838c9627c/html5/thumbnails/11.jpg)
![Page 12: Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc MaiSteven Weaver.](https://reader035.fdocuments.net/reader035/viewer/2022070413/5697bfa21a28abf838c9627c/html5/thumbnails/12.jpg)
Object Avoidance
Robot instructed to go to point A to B Calculate trajectory from interpreted data from sensors
Rotate robot to avoid collisions. Calculate new path
Robot avoids collision with new path recognition
Actual Device EZ1 Flex Sensors
![Page 13: Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc MaiSteven Weaver.](https://reader035.fdocuments.net/reader035/viewer/2022070413/5697bfa21a28abf838c9627c/html5/thumbnails/13.jpg)
LOCOMOTION
![Page 14: Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc MaiSteven Weaver.](https://reader035.fdocuments.net/reader035/viewer/2022070413/5697bfa21a28abf838c9627c/html5/thumbnails/14.jpg)
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)
![Page 15: Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc MaiSteven Weaver.](https://reader035.fdocuments.net/reader035/viewer/2022070413/5697bfa21a28abf838c9627c/html5/thumbnails/15.jpg)
Motor Control : H-Bridge
• Motor direction
• Speed by PWM
![Page 16: Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc MaiSteven Weaver.](https://reader035.fdocuments.net/reader035/viewer/2022070413/5697bfa21a28abf838c9627c/html5/thumbnails/16.jpg)
Motor Control : Wheel Encoders
• Keeps track of speed/ displacement
• Resolution
1kHz–slowest speed≈ 0.8 feet/second
3kHz–fastest speed≈ 2.5 feet/second
![Page 17: Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc MaiSteven Weaver.](https://reader035.fdocuments.net/reader035/viewer/2022070413/5697bfa21a28abf838c9627c/html5/thumbnails/17.jpg)
Motor Control : Software
•Issue : DC Motor Performance
• Solution: PID Control
Change Voitage accordingly for each motor in every 30 ms
Motor LEFT
Motor RIGHT
Actual ticks in 30 ms
Actual ticks in 30 ms
Send the actual distance traveled to NAVIGATION
Get the desired direction/distance/speed from NAVIGATIONDesired ticks for each motor in every 30 ms (Speed) /
Direction / Displacement
![Page 18: Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc MaiSteven Weaver.](https://reader035.fdocuments.net/reader035/viewer/2022070413/5697bfa21a28abf838c9627c/html5/thumbnails/18.jpg)
HOW IT ALL COMES TOGETHER
![Page 19: Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc MaiSteven Weaver.](https://reader035.fdocuments.net/reader035/viewer/2022070413/5697bfa21a28abf838c9627c/html5/thumbnails/19.jpg)
Overall System: Block Diagram
![Page 20: Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc MaiSteven Weaver.](https://reader035.fdocuments.net/reader035/viewer/2022070413/5697bfa21a28abf838c9627c/html5/thumbnails/20.jpg)
• HBridge + Voltage Regulator
• Wheel Encoder
• Sensors: Beacon, Ultrasonic, & Flex
PCB Design
![Page 21: Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc MaiSteven Weaver.](https://reader035.fdocuments.net/reader035/viewer/2022070413/5697bfa21a28abf838c9627c/html5/thumbnails/21.jpg)
![Page 22: Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc MaiSteven Weaver.](https://reader035.fdocuments.net/reader035/viewer/2022070413/5697bfa21a28abf838c9627c/html5/thumbnails/22.jpg)
![Page 23: Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc MaiSteven Weaver.](https://reader035.fdocuments.net/reader035/viewer/2022070413/5697bfa21a28abf838c9627c/html5/thumbnails/23.jpg)
![Page 24: Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc MaiSteven Weaver.](https://reader035.fdocuments.net/reader035/viewer/2022070413/5697bfa21a28abf838c9627c/html5/thumbnails/24.jpg)
Daughter Board
![Page 25: Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc MaiSteven Weaver.](https://reader035.fdocuments.net/reader035/viewer/2022070413/5697bfa21a28abf838c9627c/html5/thumbnails/25.jpg)
Final Robot
![Page 26: Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc MaiSteven Weaver.](https://reader035.fdocuments.net/reader035/viewer/2022070413/5697bfa21a28abf838c9627c/html5/thumbnails/26.jpg)
Budget
Beagle Board $150
Batteries $115
AVRs $105
Sensors $78
GPS $50
![Page 27: Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc MaiSteven Weaver.](https://reader035.fdocuments.net/reader035/viewer/2022070413/5697bfa21a28abf838c9627c/html5/thumbnails/27.jpg)
Milestones• Turtle’s Body 4/5
• AVR Code Complete 4/10
• Beagleboard & AVR communicate together 4/12
• PCB complete 4/28
• Parts Mounted 4/30
• Robot assembled 5/2
![Page 28: Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc MaiSteven Weaver.](https://reader035.fdocuments.net/reader035/viewer/2022070413/5697bfa21a28abf838c9627c/html5/thumbnails/28.jpg)
Website
http://turtle.sdsu.edu
![Page 29: Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc MaiSteven Weaver.](https://reader035.fdocuments.net/reader035/viewer/2022070413/5697bfa21a28abf838c9627c/html5/thumbnails/29.jpg)