P14215 AUTONOMOUS WANDERING AMBASSADOR

What is the project about?

The objective of this project is to modify a currently remote controlled robot so that it can be both autonomous and remote controlled. In doing so, the robot should have the capability to navigate autonomously without causing harm to any person or damaging any objects in its path. In order to improve upon the previous version of the robot and make the robot more user interactive, sonar and IR sensors will be implemented to avoid obstacles. In addition to the sensors the robot will be able to navigate autonomously using an RFID reader and other sensors to move on its own through the third floor of the Kate Gleason Engineering Building.

CUSTOMER REQUIREMENTSCustomer Rqmt.

# Description Comments/Status

CR1 Detect RFID tags Use RFID tags to use tracking of zones on the robot

CR2 Avoid ObstaclesUse different sensors so the robot can navigate

through obstacles

CR3Move at human walking

speed Using a different gear ratio

CR4 Allow user interactionEssentially put some sort of camera on the robot

for streaming

CR5 Test P13215 specifications Gain familiarity with all boards

CR6Move autonomously from

one point to anotherAvoid obstacles when moving to a different RFID

tag

CR7 Manual Control Adapt remote control using a PS2 controller

CR8Compute fastest route to

the next RFID tags Use arduino math to compute fastest route

rqmt. # Source Function Engr. Requirement Unit

S1 CR3 Robot Speed Speed of about 0.3 m/s m/s

S2 CR1 RFID UnitAble to recognize robot's

location

S3 CR2 IR Sensors (short range)Able to detect object from 0 to

1 feet V/m

S4 CR2 Sonar Detection

Robot functions as expected when an object obstructs the

path of the robot. in

S5 CR5Verify robot's current

functionality revise and verify the code 　

S6 CR4 Webcam systemStream video at least 30 fps at

720p bit/sec

S7 CR6 Controls accuracy

Ensure that turning and distance traveled are accurately

monitored by robot mm

S8 CR6, CR8 Pathing systemable to calculate the shortest

path in give area 　

S9 CR7 Control system improvementlong range control system without delay or interupt m

Michael Gambino – Hardware Specialist

Nick Nguyen – Software/ Hardware Specialist

Apurva Shah – Project Leader

Peichuan Yin – Electrical Specialist

Customer & Guide: George Slack

Team Members

ENGINEERING REQUIREMENTS

Throughout this project the team as a whole was fortunate to have great support from the Electrical Engineering Department as well as help from various people and departments in the Kate Gleason School of Engineering. There was a rather large learning curve when developing the different schematics as well as looking at what was already built and implemented on the robot. During MSD I, multiple code reviews were held just to understand the basis of connecting the Panda Board to the server at RIT. While MSD I was mostly documentation and learning about the robot a plethora of bench marking was also completed. As a team boards were tested, circuits were made, as well as prototyping was done. This was all part of the process to figure out what the best parts and boards would be used to run an efficient robot. Due to the high success rate of this project and meeting the customer specifications another recommendation to a future team would be to develop an application for an android or iPhone users to control this robot. It would be highly encouraged to have a computer or software engineer on the team to refine the code that was developed by this team as well as support the development of the application.

Function Decomposition System

Design

User End Interface Screenshot

Sensor Installation