MIR – Mobile Intelligence Robot By Jason Abbett and Devon Berry

Project Introduction Build and program a robot –Competition Requirements Size & Weight Safety Autonomous –Competition Goals Accuracy –Successful Task Completion –Avoid Penalties Speed

Competition Task Specifics Four Cans –One Can per Incoming Room –Different Colored Cans –Different Colors to Different Rooms

Competition Specifics Virtual Walls & Ceiling Best of Two Rounds –Fastest Six Teams to Final –Three Workers with Colored Coveralls

Team Organization CS Team –Jason Abbett –Devon Berry ECE Team –Michael Hall –Jeff Croxell –Eddie Inlow

Hardware Design Outputs –Four Motors –Five Servos Inputs –Three Light Sensors –Three Sonar Sensors –Two Optical Mice –One CMU Camera

Initial Plan Use Line Following –Light Sensors (Adjust Motors) –Mouse & Compass (Backup) Use Vision for Rooms –CMU Camera (ID & Center) –Sonar (Grab)

Actual Implementation Use Line Following Straight –Light Sensors (Adjust Motors) –Mouse (Trigger) Use Navigation System Turning –Mouse (Distance) –Control System (Motor PID Control) Use Sound for Rooms –Sonar (Center & Grab) –CMU Camera (ID)

Software Design Main Module –Sensor Fusion High Level Modules –Control System –Navigation System –Arm States –Grab Can Low Level Modules –Input Interfaces –Output Interfaces

Structure Diagram Motors Servos Sonar Sensors Light Sensors Optical Mice CMU Camera Control System Navigation System Sensor Fusion Grab Can Arm States Low Level High Level Main Function Legend Output

Track Testing Half of total project time Several runs on track after each new code implementation

Integration Testing Integrate module into main function Do track test again

Project Timeline

Day Before Competition Practice board in hotel –Sign up for 30 minute slot –Completed course twice –Only three teams completed track

Competition Each team had two runs on the track After first run –One 20 sec penalty for not attempting to grab one of the cans –Placed 2 nd out of 37

2 nd Run Exceeded time limit Obtained one penalty –Did not attempt to pick up one can (20sec) Placed 9 th out of 37

Afterthoughts Claw worked great but was too much for this particular competition More light sensors Smaller platform and wheels

Demo

Questions