Autonomous Explorer Group 6 Michael Jun, Scott Hewson, Braedan - - PowerPoint PPT Presentation

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Apr 05, 2023 444 likes •589 views

Autonomous Explorer Group 6 Michael Jun, Scott Hewson, Braedan Jongerius Our Project Build an autonomous robot that will avoid obstacles and build a 2D map of its environment. Robot Platform Rover 5 4 motors with encoders

SLIDE 1

Autonomous Explorer

Group 6

Michael Jun, Scott Hewson, Braedan Jongerius

SLIDE 2

Our Project

Build an autonomous robot that will avoid

bstacles and build a 2D map of its

environment.

SLIDE 3

Robot Platform

Rover 5

4 motors with encoders
Adjustable ride height
Motor rated voltage: 7.2V
Motor stall current: 2.5A
Output shaft stall torque: 10Kg/cm
Gearbox ratio: 86.8:1
Speed: 1Km/hr

SLIDE 4

Optical Encoders

1000 state changes per 3 wheel rotations
A and B XOR-ed together for interrupt
5V dropped to 3.3V with voltage divider

SLIDE 5

Ultrasonic Rangefinders

Maxbotix LV-EZ4

42kHz Ultrasonic sensor
Low 2mA supply current
20Hz reading rate
Analog Output - 10mV/inch
6 to 254 inches (6.45m)

SLIDE 6

Digital compass

Honeywell HMC6352

Simple I2C interface
1 to 20Hz selectable update rate
0.5 degree heading resolution
1 degree repeatability

SLIDE 7

Hardware Diagram

DE0 Nano Range Finders Compass Motor Pairs Voltage Divider 4 4 ADC Optical Encoders PWM I2C 8 XOR 1 1 5 1 4 Counters

SLIDE 8

Sensors Layout

SLIDE 9

Software

SLIDE 10

Scalar to Vector Conversion

if(Command==NOT_TURNING) {

CarPositionX= cos((Angle+90)*PI/180)*DistanceTraveled+CarPositionX; CarPositionY=sin((Angle+90)*PI/180)*DistanceTraveled+CarPostionY; } LeftSensorX=cos((Angle+180)*PI/180)*LeftSensorScalar+CarPositionX; LeftSensorY=sin((Angle+180)*PI/180)*LeftSensorScalar+CarPositionY; RightSensorX=cos((angles)*PI/180)*RightSensorScalar+CarPositionX; RightSensorY=sin((angle)*PI/180)*RightSensorScalar+CarPositionY;

SLIDE 11

Test Plans

Simulate inputs to test VHDL components
Measure outputs from sensors to verify function
Measure current draw from components
Have robot navigate simple obstacles

SLIDE 12

The Future of the Project

SD card storage / wireless transmitting
Backtracking and/or nodes
Improved turning algorithms

SLIDE 13

Rangefinder can't sense < 6 inches
Rangefinder beam pattern
Current draw
Retrieving and displaying mapped data in a

simple manner

The Current Challenges

SLIDE 14