Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc MaiSteven Weaver

Project Description Design and Build an Autonomous Robot Robot must successfully navigate around a predetermined course Robot must pass through selected beacons

Project Requirements Detect beacons within feet Fits within a 16”x16”x16” cube Has a clearly labeled emergency stop switch

Yertle’s Journey

Flow Chart

HOW WAS THIS ACHIEVED  Navigation ◦ Beagleboard ◦ AVR microcontroller ◦ Ultrasonic Sensors ◦ Flex Sensors ◦ Compass ◦ GPS  Locomotion ◦ AVR microcontroller ◦ H-Bridge ◦ Wheel Encoders ◦ Power Supply

NAVIGATION

Block Diagram: Navigation

Path Finding

Graph of course Destination Points are put into the code. 14 x = [125, 256, 294, 85, 85, 80, 75, 75, 60, 60, 16, 16, 8, 8, 48, 48, 10, 10, 44, 10, 33] 15 y = [170, 170, 66, 66, 55, 50, 50, 42, 42, 10, 10, 87, 87, 120, 127, 135, 135, 140, 150, 152, 167] Dead Reckoning and Compass to calculate current position 20 delta_x = math.sin(compass) * feet traveled from last waypoint 23 delta_y = math.cos(compass) * feet traveled from last waypoint Compass direction computed: 9 distance = calcDistance(pt1, pt2) 11 diff = pt2[1] - pt1[1]] 16 return math.asin(diff/distance) Path Finding

Object Avoidance Robot instructed to go to point A to BCalculate trajectory from interpreted data from sensors Rotate robot to avoid collisions. Calculate new path Robot avoids collision with new path recognition Actual Device EZ1Flex Sensors

LOCOMOTION

Block Diagram: Locomotion

Motor Control : H-Bridge Motor direction Speed by PWM

Motor Control : Wheel Encoders Keeps track of speed/ displacement Resolution 1kHz –slowest speed ≈ 0.8 feet/second 3kHz –fastest speed ≈ 2.5 feet/second

Motor Control : Software Issue : DC Motor Performance Solution: PID Control

HOW IT ALL COMES TOGETHER

Overall System: Block Diagram

HBridge + Voltage Regulator  Wheel Encoder Sensors: Beacon, Ultrasonic, & Flex PCB Design

Daughter Board

Final Robot

Budget Beagle Board $150 Batteries $115 AVRs$105 Sensors$78 GPS $50

Milestones Turtle’s Body 4/5 AVR Code Complete 4/10 Beagleboard & AVR communicate together 4/12 PCB complete 4/28 Parts Mounted 4/30 Robot assembled 5/2

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