Hamster Transport Vehicle HTV Joey Siracusa Computer Engineering 4/14/2015

Hamster Transport Vehicle Servo motor and rails hold 7 inch diameter Hamster Ball Navigates obstacle course and deposits Frank at specified location Uses LIDAR for accurate centroid detection and rough velocity calculations Goals similar to the UF AggreGator; will be used to test non-excavating behaviors for NASA’s RMC

HTV Agenda Final Mechanical Implementation Final Electrical Implementation Final LIDAR Implementation State Machine Conclusions / Future Work

Final Mechanical Design

Final Electrical Design

LIDAR

LIDAR

State Machine Destination (x,y) is set prior to running robot Location (x,y) is the robot’s LIDAR centroid When an obstacle is found on one side, robot will turn away from it unless the robot is close to an x boundary When an obstacle is directly in front of the robot, robot will turn toward destination x Obstacle/wall following implemented to navigate around obstacles When obstacle disappears from view, robot turns toward positive y direction and moves forward If location y = destination y Turn toward destination (x,y) Move forward until destination reached Drop HamsterBall

Future Work Things to fix before Demo Day: Use destination x with location x to choose direction when obstacle is directly in front, instead of choosing randomly Implement x boundaries for robot Check if destination y == location y and stop wall following behavior Things to add before Media Day: Need to add a gyro for accurate turns. LIDAR centroid derivative is only effective while moving in one direction. Switch LIDAR centroid box with something more professional. If time permits, print case for protoboard.