1 / 21

Locomotion Jad Farah Long Quy Patrick Swann Korhan Demirkaya Ngoc Mai Navigation

Locomotion Jad Farah Long Quy Patrick Swann Korhan Demirkaya Ngoc Mai Navigation Steven Weaver Denden Tekeste Ali Alkuwari Marcus Schaffer. Objective. Design & build an autonomous robot with ability to :

ban
Download Presentation

Locomotion Jad Farah Long Quy Patrick Swann Korhan Demirkaya Ngoc Mai Navigation

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript


  1. Locomotion Jad Farah Long Quy Patrick Swann Korhan Demirkaya Ngoc Mai Navigation Steven Weaver Denden Tekeste Ali Alkuwari Marcus Schaffer

  2. Objective Design & build an autonomous robot with ability to: • Navigate a given course Pass through gates by sensing beacon • Avoid obstacles Various sensors to plot track of robot • Control functions: -High (BEAGLEBOARD) -Low (AVR1 & 2)

  3. Project Requirements • Various sensors to plot track of robot • Detect ultrasonic beacons within 15 - 25 feet • Fits within a 16”x16”x16” cube • Has clearly labeled emergency stop switch • Travels 1.5 ft/sec • Regulates voltage

  4. Block Diagram

  5. Block Diagram - Navigation

  6. Block Diagram – Locomotion

  7. Assembly • aluminum body • specially designed PCBs

  8. Assembly unique wire layout and alternative

  9. Assembly • switches for logic & motor power • fuses

  10. Mounting • Various Sensors • H-Bridge

  11. Mounting • GPS & Compass • Beagle Board • AVRs

  12. PCB Design • HBridge + Voltage Regulator  • Wheel Encoder • Compass • GPS + UART + RSSI • Daughter board • Sensors: Beacon, Ultrasonic, & Flex

  13. Motor Control • Hardware : Wheel Encoders, H-Bridge, dedicated micro controller • Software : Speed / PID Control • Multiple speeds 1kHz–slowest speed ≈ 0.8 feet/second 3kHz–fastest speed ≈ 2.5 feet/second

  14. Beagle Board • Robot brain – high level control • Python code • GPS parsing • Object avoidance

  15. AVR • serial coding for sensors • powered with one 7.2V

  16. GPS & RF • Python code • WHAT CODE DOES • GPS equation estimates coordinates, distance, & direction on map • RSSI equation to estimate distance of beacons • 2 UART – 5V & 3.3V output

  17. Sensors NEED BETTER EXAMPLES HERE! NEED BETTER EXAMPLES HERE! NEED BETTER EXAMPLES HERE!

  18. Milestones Turtle’s Body - 4/5 PCB - 4/28 Code complete - 4/ Parts Mounted - 4/30 Interface Beagle Board & AVR together - 4/

  19. Budget Beagle Board $150 AVRs $105 GPS $50 Batteries $82 Sensors $78 Labor Cost $0

  20. Website http://turtle.sdsu.edu

More Related