Autonomous Targeting Vehicle (ATV) Daniel Barrett Sebastian Hening Sandunmalee Abeyratne Anthony Myers

Project Overview Navigation Visual Tracking - Determine location and trajectory by applying Kalman filter for fusion of data from sensors - Travel to waypoints which have been entered through Wi-Fi interface - Detect obstacles with sonic rangefinder(s) - Avoid said obstacles Visual Tracking - Targets identified through Wi-Fi interface - Targets tracked using Optical flow algorithm - Web cam turret moves to follow target

Updated Block Diagram

Design Criteria Computing Power Physical Power/Strength - Must be able to perform video processing, sensor fusion, navigation, and motor control in real time Physical Power/Strength - Motors must be powerful enough to move robot - Chassis must be strong enough to carry everything Electrical Power - Battery must be able to power motors, Atom board, electronics without being too heavy - Minimize power usage Sensor Precision/Accuracy - Sensors should be as precise/accurate as possible Cost - We do not want to spend more than necessary

Component Selection Atom Board Selection IB88 -Onboard power supply with single 12V input - Draws less than 2A - Has Wi-fi - Single core 1.6Ghz Intel Atom CPU -FREE for the semester Zotac IONITX-G-E - No onboard power supply: requires many inputs at various voltages - No Wi-fi - Dual-Core 1.6Ghz Intel Atom CPU - ~$130

Motor/Chassis Kit Selection Component Selection Motor/Chassis Kit Selection Lynxmotion Aluminum 4WD1 Rover Kit - Sturdy aluminum frame can carry 5lb payload - Each 12V motor draws 114mA (no load), 233mA(under rated load) - Motors designed for use with encoders - $217 DFRobot 4WD - small plastic frame can carry 1.7lb - Motors run on 6 AA batteries (low power) - built-in encoders - $67 Dagu Wild Thumper -Sturdy aluminum frame with suspension system - Each motor draws 420mA with no load - $250