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Emergent Behavior Robot
Bradley University - Senior Capstone Project Spring Progress Presentation
Emergent Behavior Robot Bradley University - Senior Capstone Project - - PowerPoint PPT Presentation
Emergent Behavior Robot Bradley University - Senior Capstone Project - - PowerPoint PPT Presentation
Emergent Behavior Robot Bradley University - Senior Capstone Project Spring Progress Presentation By: Andrew Elliott & Nick Hanauer Advisor: Joel Schipper February 23, 2010 Overview Introduction Block Diagram Completed Work
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Overview
- Introduction
- Block Diagram
- Completed Work
- Next Steps
- Future Steps
- Schedule
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Introduction
- Study Emergent Behavior
– React intelligently to a dynamic environment
- Emergent Behavior
– The result is greater than the sum of its parts
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Objective
- Create a robot that:
– Avoids obstacles – Seeks and finds beacon – Flees from loud sounds – Favors darker environments – Displays emergent behavior
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High-Level System Overview
6 Ultrasonic Sensor Bump Sensors IR Sensor
Microphones Light Sensors
ATmega128 Microcontroller Left Motor Right Motor Robot’s Reaction to Environment Robot’s Environment Hardware Software Hardware H-Bridge H-Bridge
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Software - Modes and Task Priority
- Modes (all modes include obstacle avoidance)
– Roam mode
- Search for beacon
– Evade mode
- Travel quickly away from source of sound
- Find shelter (low light area)
– Pursuit mode
- Travel toward beacon
- Priority (1 is the highest)
Task
Roam Travel in low light Beacon found Detection of a loud sound Obstacle avoidance
Priority
6 5 (3 in Evade mode) 4 2 1
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Completed Work (1)
- Robot chassis
– Cut chassis – Fabricated motor mount brackets – Ceramic drawer pull as rear caster
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Completed Work (2)
- Parts
– Received
- Sharp GP2D12 IR sensors
- Hennkwell HG37F DC motors
- Acroname H-Bridge components
- Wheels and Hubs
- Microphones
- Reflective light sensors
– Ordered
- Bump sensors
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Completed Work (3)
- Software
– Read output from IR sensor using ADC – Generate stable PWM at 62.5kHz – Interface with H-Bridge – Pre-programmed path – Basic obstacle avoidance
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Completed Work (4)
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Two IR sensors independently control two PWMs.
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Completed Work (5)
- Hardware
– H-Bridge circuitry – Microphone and amplifier circuitry
- Hardware issues
– H-Bridge unable to reverse direction
- Issue resolved with external bootstrap capacitors
– Noise in microphone output
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Next Steps
- Hardware
– Filter noise from microphones – Reflective light sensors – Ultrasonic beacon – 24V batteries
- Software
– Smarter obstacle avoidance – Interface microphones
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Future Steps
- Chassis
– Mount sensors, batteries, etc.
- Hardware
– Electrically isolate motors and microcontroller
- Separate battery and Opto-isolators
- Software
– Determine direction of sound – Determine “darker” environment – Determine direction of beacon – Develop emergent behavior
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Schedule
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Week Andrew Elliott Nick Hanauer 1-3 Research & Website Development Parts Research 4 Learn ATmega128 Parts Testing & Research 5 Interface with the Digital I/O Parts Testing & Finalizing Parts List 6 ADC Setup Parts Testing & Order Remaining Parts Winter Break Construct Chassis 7 Interface IR Sensors Motor & H-Bridge Circuitry/Testing 8 Interface Microphones & light sensor Microphone & light sensor Circuitry/Testing 9 Interface Motors & H-Bridge Ultrasonic Circuitry/Testing 10-11 Integrating All Sensors Circuitry Clean-Up & Wire Wrapping 12-15 Final Behavioral Software & Hardware 16-17 Final Documentation and Presentation Preparation
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Questions?
Emergent Behavior Robot
Andrew Elliott & Nick Hanauer Joel Schipper
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Detecting “Darker” Environment
- Use optical sensor pointed at ground
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Detecting Direction of Sound
- Array of three microphones
- Interrupt based
– Triangulation – First to detect
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Obstacle Avoidance Paths
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