June 2 nd 2010 Line Tracking & Mission to Mars Embedded Motion Control Group 1 Rene Thijssen Luke Lathouwers Maarten van Stuijvenberg Roel ten Have Bastian Eenink

Line Tracking – Hardware Design Overview functionality (I/O per RCX): Two light sensors are used to track the line Both light sensors are positioned above the line Encoders for steering and distance measurement A 1 B RCX1 2 C 3 A 1 B RCX2 2 C 3 Light sensor left Light sensor right Steering encoder Distance encoder IR Distance motor Steering motor

Line Tracking – Software Callibration Measure the intensity of light and dark between the surface and the line. The treshold is the average between the two measurements. Performance If one light-sensor goes of the line, the Mars Rover steers back in opposite direction. When both light-sensors are back on the line, the Mars Rover steers straigth forward. This minimizes the number of corrections. Steering-angle Controlled by a P-controller to be able to steer in different angles. Distance measurement The motor-encoder measures the number of encoder increments. The measured increments are converted to millimeters after the end of the line is reached.

Line Tracking – Software

Mission to Mars – Strategy Scan the area for lakes Raw data of the light sensors is used to achieve a higher accuracy. Calibration and measurement of the light sensors every 250 ms. A driving pattern is designed to scan the area of Mars effectivly.

Mission to Mars – Strategy Overall progress Edge detection and driving pattern is working The earth computer can read coördinates from the camera Approaching lakes by received coördinates (work in progress) Motion control for driving, steering and temperature To do: Finishing approaching lakes by received coördinates Link sub-programms Testing and debugging