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Team 2: Hoard Robotics

Trenton Andres Jamis Martin Jay Zifer Brad Nowak. Team 2: Hoard Robotics. Project Overview. Swarm of 8 identical wheeled robots Each robot (agent) follows a set of simple behavioral patterns The robots work together to accomplish tasks through emergent behavior. PSSCs.

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Team 2: Hoard Robotics

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  1. Trenton Andres Jamis Martin Jay Zifer Brad Nowak Team 2: Hoard Robotics

  2. Project Overview • Swarm of 8 identical wheeled robots • Each robot (agent) follows a set of simple behavioral patterns • The robots work together to accomplish tasks through emergent behavior

  3. PSSCs • An ability for each agent to avoid obstacles autonomously. • An ability to detect direction and proximity of other objects to agent using IR sensors. • An ability to transmit data packets among agents using an ad-hoc RF network. • An ability to utilize swarm behavior to find a simulated chemical spill. • An ability to utilize swarm behavior to avoid a predator.

  4. Agent Block Diagram

  5. Design Constraint Outline • Major Design Considerations • Interface Requirements • Computation Requirements • On-Chip Peripherals • Off-Chip Peripherals • Power Constraints • Packaging Constraints • Cost Constraints • Component Selection

  6. Major Design Constraints • Minimum number of agents to successfully display swarm behavior • Cost: • Cost increase; swarm size decreases • Production and fabrication: • Simplicity vs functionality

  7. Computation Requirements • Gather sensor data • Proximity calculations from sensor data • Network communication • “Safe” Motor Control • Behavioral algorithms

  8. Interface Requirements • Each Micro must: • Communicate with the rest of the swarm through wireless module • Control left and right drive speed and direction • Show behavior dependent information on indicator LEDs • Gather agent/object proximity through IR receivers • Control IR emitters

  9. On-Chip Peripheral Requirements • 8 A/D Inputs (2 for ambient light, 6 for IR) • 2 PWM Outputs (L/R motor speed control) • 4 SPI Lines for Wireless module • 5 Pins for programming header • 9 General Purpose I/O • 2 Forward/Reverse Select Lines for H-Bridge • 3 DIP inputs (Reset and debugging) • 3 LED indicator lights (Behavior-Mode dependent, Network activity, Errors) • 1 IR Emitter array enable

  10. Off-Chip Peripheral Requirements • RF Module for inter-agent communication • Transceiver Chip • Antenna • H-Bridges for motors • LED Drivers • Power supply and battery sensing

  11. Power Constraints • Mobile application dictates using batteries • We intend to use standard 9 Volt batteries: • Not preferred • Required for economic reasons • Will require an on-board power supply: • Microcontroller and RF Module will run at 3.3V

  12. Packaging Constraints • Replicable, Replaceable, Interchangeable • All parts should be able to be easily swapped between agents in case of breakdown • Minimize size: • Agent size should be determined by functional components, not packaging • Minimize weight: • Minimize motor size • Use less power

  13. Cost Constraints • Current target per robot is approximately $40 • Small increases in cost manifest as large increases for entire swarm • Less expensive robots -> more robots -> more effective swarm • Intention of project is to do less with more

  14. Component Selection: Drive Train • Solarbotics GM3 • Motor and gear-head combination • Specifically design for robotic applications • Cost effective • Commonly used • 224:1 Gear Ratio • Internal Clutch to prevent motor stall

  15. Component Selection: Microcontroller • PIC18F26J13 Microcontroller • 48 MHz (12 MIPS) • 64k program memory • 3.8 RAM • Suitable number of A/D and GPI/Opins • Previous experience with PIC family • Economically priced

  16. Component Selection: RF Module • MRF24J40MA • Complete 2.4 GHz Transceiver • Small size • Low power • Matched to microcontroller series

  17. Questions?

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