Robotic Navigation Unit Team 42 Robotic Navigation Unit Dr. - - PowerPoint PPT Presentation

Robotic Navigation Unit

Team 42

2

Robotic Navigation Unit

• Dr. Crassidis – Faculty Mentor
• Antonija Soldo – Team Leader/EE
• Aneta Rozwadowska - EE
• Andrew Fishbaugh - ME
• Ian Kunsch - ME
• Michael Oswald - ME
• Stephen Byrne - ME
• Vered Talmor - EE

3

Outline

• Design Objective
• Background
• Development Stages
• Project Overview

– Description – Subsystems – Operation

• Analysis

– Mechanical – Electrical

• Schedule

4

5

Design Objectives

• Objective

– Non-GPS mapping system – Autonomous and Self-contained – Navigate through 2-D area – Retrieve data to a computer – Stage 1: Record path – Stage 2: Intelligent Navigation

• Scope

– Budget: $2000 – Timetable: Demonstrate in May 2004 – Flat area (2-D) – Robust for three months of testing

6

Background

• Sponsor

– Intelligence Community – Need for low cost, non-GPS navigational unit – Need to map terrain

• MIMNS

(Miniature Inertial Measurement Navigation System)

– Non-GPS – Inexpensive – Developed @ RIT – Outputs analog acceleration

7

Project Overview:

Development Stages

• Stage 1 (Scope):

– MIMNS Interface – Motion Control – Obstacle Avoidance – Troubleshooting

• Stage 2 (Optional):

– Intelligent Navigation – Map Environment

8

Batteries Motors Infrared Sensors MIMNS cube Ultrasonic Sensor H-bridge Microcontroller Ultrasonic Sensors H-bridge Servo Motor

System Overview

9

Project Overview:

Operation

• TE – Transit Enable
• RS- Receive Signal

(Echo)

• DUR5200

Ultrasonic Sensor

• NMIH-0050

H-bridge

• GP2D12 Infrared

Sensor

• MSP430F449 –

Microprocessor

Ultrasonic sensor Ultrasonic sensor Ultrasonic sensor I/O Ports Capture/Compare register MSP430 Processor Memory (Flash) I/O Pins / PWM generator TE RS TE RS TE RS DC Motor 1 DC Motor 2 NMIH-0050 H-Bridge MIMNS IR IR NMIH-0050 H-Bridge 8 Channel 12 bit ADC 00 – Fwd 01 – Left 10 – Right 11 = Back Trigger Echo

10

Analysis: Electrical

TI-MSP430 Microcontroller

• Low Power requirement
• Low power consumption
• 12 bit, 8 channel A/D
• 60kB flash memory
• 2048b RAM
• 48 I/O
• 125ns instruction cycle time
• FET

11

Analysis: Electrical

Sensors

• Ultrasonic: DUR5200

– Obstacle Avoidance – Navigation Tools – Range: 4cm – 340cm – Digital Output – Low Power Consumption

• Infrared: GP2D12

– Immediate Obstacle Avoidance – Range: 0 – 40cm – Analog Output

12

Analysis: Mechanical

Specifications

• Speed/Acceleration: 1.8m/s
• Agility
• Ground Clearance
• Run time: ~1 hour
• Weight: ~10 lbs
• Power
• Gearing
• Frame: Aluminum

13

Project Overview:

Flowchart

Check Bubble Check Environment Find best direction Adjust robot to face best direction Move forward Begin return sequence and look for new paths

Continue moving

No

• bstacle

Obstacle too close No path 1 or more good directions New path

Initialize System Read ADC, get MIMNS data, store it in the memory Set up an interrupt to trigger ADC every ~500m sec.

Robot

180

Bubble - sonar range (red arc)

180

L2 L1 L3 L4 L5 L6 L7 L8 L9 Environment Check Range (blue arc)

14

Analysis:

Anticipated Challenges

• Sensors

– Accuracy – Blind spots – False positives

• Navigation

– Algorithm – Integration into control software

• Micro Controller

– Programming – Memory Usage – Compiler

15

Schedule

ID Task Name Duration

May 2004 7/3

1 5d Purchase Components 2 15d Research Microcontroller Operation and Programming 3 5d Test DC Motors, H-bridge 4 15d Test Senors 5 15d Test A/D Converter; MIMNS interfacing 6 15d Construction of Chassis 7 15d Research PCB 8 20d Final Assembly and addition of electronics 9 20d Testing of mobile unit; Implementation of obstacle avoidance 10 11 25d Optional: Adding features and implement complex navigation algorithm

Mar 2004 4/4 9/5

12 49d Any assembly changes 54d Write final report

16/5 14/3 25/4 18/4 Apr 2004 11/4 28/3 2/5 21/3

13 0d CDR, Report due

QUESTIONS

?????