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Poetry in Motion The Ruff Ryder Experiment

Poetry in Motion The Ruff Ryder Experiment. Project #26 TA: Matt Olson Nick Bafaloukos Jerry Kao Samit Patel. Introduction. Multi-Rover Network Lab – Professor Bullo Project Goals Utilize GPS and compass data to track the relative positions of 2 vehicles

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Poetry in Motion The Ruff Ryder Experiment

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  1. Poetry in MotionThe Ruff Ryder Experiment Project #26 TA: Matt Olson Nick Bafaloukos Jerry Kao Samit Patel

  2. Introduction • Multi-Rover Network Lab – Professor Bullo • Project Goals • Utilize GPS and compass data to track the relative positions of 2 vehicles • Transmit GPS coordinates of a manually- controlled “prey” vehicle to an autonomous “predator” vehicle through wireless communication • Allow the “predator” to compare its location to that of the “prey” and take the necessary measures to “chase” it

  3. Objectives • Interfacing GPS and compass with test board • Setting up a private network between “prey” and “predator” • Allowing for data transmission/acquisition between the “predator” and the “prey” • Implement a basic comparison algorithm in conjunction with a control code that allows the “predator” to determine its location and successfully “chase” the “prey”

  4. Control Flow

  5. Hardware • Traxxas E-Maxx Electric Monster Truck $369.99 • Properly sized to fit PC104 board and sensors • 20 minutes of continuous running • Mounting brackets for embedded system control • 2 6-cell, 7.2 Volt batteries • Garmin GPS 36 $170 • Differential correction capabilities • Garmin GPS 16 LV $180 • WAAS correction capabilities • NMEA 0183 data communication • RS-232 serial connection • PS/2 power connection (3.3 to 6 Vdc regulated) • No bundled software • Vector 2x Compass $50 • TTL compatible @ 5 Vdc regulated • Interface needed (parallel port chosen) • No bundled software • Parallel port protocol

  6. Vector 2x Pin-out

  7. Hardware (cont’d) • Pontech SV203B Servo Controller $59 • RS-232 serial connection @ 4.8V to 6.0V  • ASCII character strings commands • Jumptech VNS-786 PC104 board $900 • 12 Vdc input for 5 Vdc – 12 Vdc operations • NoMein Nickel Metal-Hydride battery (@ 9.6 Vdc) • Astrodyne DC/DC converter (20W) • 30 minutes of available run time • HP 802.11b Wireless-LAN Card $90 • DSSS: direct sequence spread spectrum • PCC-104A+ PCMCIA Card Adapter from Adastra $136

  8. Software Overview • GPS code • Allows the GPS unit to display data on the PC via the serial port • Compass code • Allows the compass to display data on the PC via the parallel port

  9. Software Overview (cont’d) • Socket code • Allows the “predator” to bind to a specific IP address • The “predator can then listen to that IP by opening up a port • Opens up the lines for data transmission/acquisition • Servo Controller code • Instructs the “predator’s” movement in accordance with its relative position to the prey

  10. Software Overview (cont’d) • Multi-threaded code • Incorporates GPS, compass, socket, and servo controller code into one main code composed of 4 threads • Allows the “predator” to create a listening socket for GPS data acquisition from the “prey” • Comparison code then allows the “predator” to determine its relative position to the “prey” by utilizing its own set of GPS and compass data • Servo code finally instructs the “predator’s” movements as specified by the comparison code

  11. Software Overview (cont’d) • Comparison scheme Outside Inputs Coordinates & GPS signal quality for Car 1 Coordinates & GPS signal quality for Car 2 Orientation for Car 2 (Degree2) Distance (eg. 30 meters) Car 1 Other Variables Degree 1 Distance Degree1 (eg. 120º) Instructions Degree2 (eg. 45º) WHILE (signal quality is NOT BAD) If Distance > 10 meters, go FORWARD If Degree1 > Degree2, turn LEFT If Degree1 < Degree 2, turn RIGHT If Degree1 = Degree2, go FORWARD Else STOP Car 2

  12. Field Testing of Sensor Inputs • GPS Accuracy to determine how close we know the actual • positioning of one car relative to another car • Used different days, different conditions, different GPS • Open field no obstructions • Clear • 1st GPS • WAAS Readings

  13. Cloudy • 1st GPS • Lost one satellite • WAAS readings

  14. Cloudy • 2nd GPS • Lost one satellite • WAAS readings

  15. Clear • 2nd GPS • WAAS readings

  16. GPS coordinates consistent • Standard Deviation = 0.7 m

  17. Testing the GPS next to CSL • 5 meters from building • 20 meters away from each other -Cloudy -No WAAS Readings -3 satellites -Clear -No WAAS Readings -3 satellites

  18. Limitation of GPS next to buildings • Stop cars once GPS or WAAS signals lost

  19. Compass testing

  20. Difference in tilt error due to orientation of the compass in relative to the Earth’s magnetic field

  21. Testing the Controller • Servo Controller • Communicates via serial port • Utilized 2 of 8 servo motor controllers • Speed control • Steering • Tested through remote-login into vehicle • Controlled the speed and steering through the use of a shell script which allowed for user input as a means of a “remote control”

  22. Integration • Implementation of a very compressed (2.5 MB) Linux distribution on the “predator” • Statically compiled executables into binaries • Remotely accessing the “predator” vehicle in order to commence the “chase”

  23. Challenges • Hardware inefficiency • Garmin 36 vs. Garmin 16 • Limited on-board memory • Flash Memory • Data Warehousing • Power availability • Mounting hardware issues

  24. Challenges (cont’d) • Software inefficiency • Linux – uncharted territory • Linux Router Project • Wireless network authentication by vehicle • Initial data acquisition by GPS • Initializing all of the individual threads in order bring all of the code together

  25. Successes • Interfacing compass and GPS with PC • Successfully setting up a private network between the PC and the “predator” over wireless LAN • Implementing multi-thread code allowing for data transmission/acquisition, position comparison, and proper “chase” instructions • Accurate localization of vehicles using sensors ALL OBJECTIVES ACCOMPLISHED!

  26. Recommendations Buy a three-axis compass to increase the accuracy of the compass Larger disk-on-chip hard drive Determine sharpness of turns in accordance to the angle variation of the two cars Modify transmission method to incorporate multicasting (allows multiple-cars to be running on the same network)

  27. Special Thanks • Professor Francesco Bullo • Graduate Assistant Timur Karatas • Graduate Assistant Karl Robrock • Professor Christoforos Hadjicostis • TA Matt Olson

  28. Questions?

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