Mobile Robot Design

Eric Adams
Presented by: Chris Eaton
Kevin Glover
Team J1 Manny Lebita
Gus Weiss IV
Outline

z Project Definition/Objectives
z Component Overview
z System Wide Integration/Testing
z Project Status
z Budget/Schedule Update
z Questions
Project Definition

To design a mobile robotic system that will

traverse through a maze with arbitrary
obstacles and transmit information to a PC that
will graphically display the robot’s telemetry
information and maze layout.
Project Objectives

z Navigate/Collectinformation within maze

z Traverse a closed path within maze
z Transmit information using transceivers
z Process and display received data
z Exit maze
System Block Diagram

Compass Rangefinders

Altera
Board

IR Sensors Transceiver Drive Train

PC-Side
Application
Project Specifications
Components

z Altera Board
z Drive Train
z Rangefinders
z IR Sensors
z Compass
z Communications
z PC Application
Altera Board

z Controls the robot

z Interface to all modules
z Modules are connected through
expansion header pins
z Built-in 7-segment LED’s, push-button
switches, and DIP switches for testing
z Programmed using VHDL
Drive Train

z Consists of 2 modified servos

with wheels
z Drive Train control logic
provides 8 directional settings
and 4 speed settings
z Servos are driven using PWM
signals
z Speed controlled by altering
duty cycle
Drive Train
Testing Procedure
z Developed PWM generator separately and verified
waveforms using oscilloscope.
z Ensured relatively straight travel in all speed modes
Ultrasonic Rangefinder Sensors

z Consists of 3 rangefinder
modules
z Determines range to objects
z Returns hex value, which is
interpolated by software
z Actual effective range
3cm – 89cm
z Actual precision inconsistent,
thus streaming buffer
implemented in software
Ultrasonic Rangefinder Sensors
Testing Procedure
z Verified correct trigger input values using
oscilloscope
z Measured output readings at various
distances to ensure consistency
Infrared Line-Tracker Sensors

z Front-mounted module with

three digital lines
z Signal goes high when
reflective material detected
beneath the sensor
z Altera board uses IR sensors
to decide movement when
traversing loop
Infrared Line-Tracker Sensors
Testing Procedure
z Line tracker has built-in LED’s that
illuminate when the sensor’s signal goes
high (i.e., when the tape is detected.)
z Place each sensor over a piece of tape
and make sure the LED illuminates. This
ensures the line tracker itself is working.
z Place the robot on a closed path and see
if it follows it. This ensures proper
integration of the line tracker.
Odometer
z Instrument needed to measure the
distance traveled by robot
z Initially planned on implementing timers
with servos, but servos were unreliable
z Decided on hardware odometer
z Servo consistency improved, and thus we
returned to original plan
Electronic Compass

z Provides orientation
information
z Important in mapping and loop
traversal
z VHDL control logic
implemented
z Interfaces using SPI
z Communication difficulties
z Software contingency in
development
Compass Contingency Plan

z Communication problems with the

compass could force an alternative
solution
z Contingency plan is to implement
software functionality to replace
compass
z Software would use trigonometric
formulas with odometer data to calculate
a heading
Wireless Communications
z Necessary for robot-to-
pc communications
z Accomplished through 2
transceiver modules
z Data transferred at 19.2k
bits/sec
z VHDL module controls
send/receive logic
z Robot and PC send
packets to each other
z Packet format revised…
RF Communications
Data Packets
Robot-To-PC Packet:
Byte 0 Left Rangefinder [7..0] (integer 0-255)
Byte 1 Center Rangefinder [7..0] (integer 0-255)
Byte 2 Right Rangefinder [7..0] (integer 0-255)
Byte 3 Speed [1..0] Move Control [2..0] Sensors [2..0]
Byte 4 Mode[1..0] Reserved
Byte 5 Reserved

PC-To-Robot Packet:
Byte 0 Override Mode[1..0] Speed [1..0] Control [2..0]
RF Communications
Testing Procedure
z Receiver and
transmitter modules
developed
separately
z Oscilloscope used to
verify clock lines,
timing, and proper
operation
System-Wide Integration
z Top-level VHDL file that integrates communications,
drive train, IR sensors, and ultrasonic rangefinder
sensors
z Implemented as Finite-State-Machine with four states
z Idle Mode stops robot and waits for commands
z Remote-Guide Mode controls robot based on
incoming packets
z Self-Guide Mode controls robot based on its own
sensor readings
z Traversal Mode controls robot based on IR Sensors
once robot is in closed-loop
Responsibility Shift: Software
z Servo control improved, allowing software
implementation of odometer
z Compass work still being done;
contingency plan: software implementation
z Packet formats revised
z Software buffer implemented to improve
rangefinder consistency
z PC-Side App is Brain of robot
PC-Side Application

z Use Visual Basic 6 to display an

approximate map of the maze based on
data sent by the robot
z Record obstacles in memory in order to
aid robot in decisions
z Provide direct human control of robot
Processing Packets

z Packets include rangefinder, line tracker,

and servo data
z Velocity and timer: determine distance
traveled (odometer)
z Turn-rate and timer: determine heading
changes (pseudo-compass)
z Rangefinder distances and basic
trigonometry: obstacle placement
Software Distance Correction

z Rangefinder returns erratic data

z Distances sent to streaming buffers
z Buffers “smooth” inconsistencies in data,
providing a time-averaged value
z This value is then interpolated from a
table of actual distances
Storing the Maze

z Maze is 214cm x 305cm

z PC-Side App creates a matrix
z Each array element represents a 1cm
square
z Detected obstacles are placed in matrix
Maze Legend

z 0 = unexplored territory
z 1 = path traveled by robot
z 2 = tape
z 3-9 = reserved
z 10-255 = walls
z 255 represents highest accuracy
z 10 represents lowest accuracy
z Higher accuracies overwrite lower accuracies
Project Status: Completed Tasks

z Integrated/Tested:Drive Train,
Rangefinders, IR Sensors, and
Communications
z PC-Side App and robot are “talking”
z PC-Side App graphically displays robot
sensor status and orientation
z Robot can traverse a closed loop
z Robot can explore maze randomly
Project Status: Remaining Tasks

z Finish compass—either in hardware or

software
z Implement algorithm for maze traversal
z Complete PC-side mapping algorithm
z Write final report
z Project is ON SCHEDULE
Schedule Update
Drive Train
Rangefinders
IR Sensors
Compass
Communications
Integration
PC-Side App
Documentation
Presentation

0 10 20 30 40 50 60 70
Time (man-hours)

Original Updated
Budget Update
Unit
Qty Description Price Total
3 Ultrasonic RangeFinders $39.95 $119.85
2 Battery Chargers $38.50 $77.00
1 Tracker Sensor $19.95 $19.95
1 Wireless Transceiver Pair $74.26 $74.26
1 Electronic Compass $55.00 $55.00
1 Rover Kit with 2 servos $94.95 $94.95
1 UP2 Development Board $149.00 $149.00
2 NiCad Rechargeable Batteries $14.95 $29.90
Total: $619.91
Engineering Impact Considerations

z Safety/Health Issues
- Battery could possibly leak
z Wireless Communications Standards
- 433MHz band available for
unlicensed transmission
Real-World Application
z Space/Nautical
Exploration

z Plant Automation

z Military Weapons

z Home Appliances

z Automated Medical
Equipment
Questions?