Rokenbok Robot Final Demo December 11, 2003 Dan Allison Henrik Christophersen David Coley David Do Bryan Gwin

The Design Goals A small robot to navigate a set of rooms with a total area of 20x20 meters square Mapping of wall and obstruction data to onboard memory Avoiding obstacles during movement

Requirements for the robot Small enough to survey a room unnoticed. Has a limited number of mounted sensors and sonars. Does the job in a timely manner. Able to keep track of its position precisely.

The Decisions A small toy tank style robot with a custom board One front infra-red sensor for obstacle avoidance Another IR sensor on a turret that could rotate 360º

Custom Robot Controller board Altera APEX20KE FPGA w/Nios CPU Altera EPM7064 Configuration Controller SRAM (256Kbyte) and Flash (1Mbyte) memory 33.33 MHz clock frequency 30 General Purpose IO 5V compatible 30 General Purpose IO 3.3V compatible 3.3V and 1.8V power regulators 6 layer board

Robot Controller board

Controller Board Schematic

Controller – FPGA image

GUI

Scan Map & Top Map

Software: Main()

Software: Explore()

Project Planning

Design Software & Computers Cost Analysis 1 10 100 1000 Hardware $307 $3070 $30700 $307000 Robot $59 $590 $5900 $59000 Design Software & Computers $5298 Labor $14000 Assembly $75 $750 $7500 75000 Total $19739 $23708 $50798 $460298