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

Autonomous Wheeled Vehicle Two main functions: –Navigate to user designated waypoints while avoiding obstacles –Visually track and follow user designated targets Uses combination of GPS and other sensors to determine current location and trajectory User Interface: –Atom board with Wi-Fi, connection via remote desktop using PC –Navigation GUI to enter waypoints by clicking on map Also displays current position and obstacles –Webcam Target Tracking GUI allows user to click on Target, which will then be tracked and followed by the camera 2 PROJECT OVERVIEW

PROJECT SPECIFIC SUCCESS CRITERIA 1.An ability to determine location within 10 meters based on GPS data. 2.An ability to control the speed and direction of the motors on each side in order to move forward, backward, turn left, and turn right. 3.An ability to visually track and follow a target via webcam. 4.An ability to detect obstacles, and determine their distance with a sonic range finder. 5.An ability to determine changes in position using wheel encoders, an accelerometer, and a compass. 3

BLOCK DIAGRAM 4

SOFTWARE DESIGN –Block Diagram 5 Wheel Motor Control Sensor Polling Servo Control Sensor Fusion Object Tracking PID control system Simulation Pathfinder Build obstacle map Measurements Estimated Obstacle positions Motor inputs Desired Trajectory Graph structure Estimated Position Motor inputs User Interface Choose Target position GPS parser Position Choose Destination Display Video, Map, and Position Video Microcontrollers Atom Board Kalman Filter

SOFTWARE DESIGN –Block Diagram 6 Wheel Motor Control Sensor Polling Servo Control Sensor Fusion Object Tracking PID control system Simulation Pathfinder Build obstacle map Measurements Estimated Obstacle positions Motor inputs Desired Trajectory Graph structure Estimated Position Motor inputs User Interface Choose Target position GPS parser Position Choose Destination Display Video, Map, and Position Video Microcontrollers Atom Board Kalman Filter Camera Tracking

SOFTWARE DESIGN –Block Diagram 7 Wheel Motor Control Sensor Polling Servo Control Sensor Fusion Object Tracking PID control system Simulation Pathfinder Build obstacle map Measurements Estimated Obstacle positions Motor inputs Desired Trajectory Graph structure Estimated Position Motor inputs User Interface Choose Target Choose Target position Target position GPS parser Position Choose Destination Display Video, Map, and Position Video Microcontrollers Atom Board Kalman Filter Navigation

SOFTWARE DESIGN –Block Diagram 8 Wheel Motor Control Sensor Polling Servo Control Sensor Fusion Object Tracking PID control system Simulation Pathfinder Build obstacle map Measurements Estimated Obstacle positions Motor inputs Desired Trajectory Graph structure Estimated Position Motor inputs User Interface Choose Target Choose Target position Target position GPS parser Position Choose Destination Display Video, Map, and Position Video Microcontrollers Atom Board Kalman Filter Collect Data

SOFTWARE DESIGN –Block Diagram 9 Wheel Motor Control Sensor Polling Servo Control Sensor Fusion Object Tracking PID control system Simulation Pathfinder Build obstacle map Measurements Estimated Obstacle positions Motor inputs Desired Trajectory Graph structure Estimated Position Motor inputs User Interface Choose Target Choose Target position Target position GPS parser Position Choose Destination Display Video, Map, and Position Video Microcontrollers Atom Board Kalman Filter Estimate State of Robot and Obstacles

SOFTWARE DESIGN –Block Diagram 10 Wheel Motor Control Sensor Polling Servo Control Sensor Fusion Object Tracking PID control system Simulation Pathfinder Build obstacle map Measurements Estimated Obstacle positions Motor inputs Desired Trajectory Graph structure Estimated Position Motor inputs User Interface Choose Target Choose Target position Target position GPS parser Position Choose Destination Display Video, Map, and Position Video Microcontrollers Atom Board Kalman Filter Planning Acting on Plan

SOFTWARE DESIGN – To be completed 11 Wheel Motor Control Sensor Polling Servo Control Sensor Fusion Object Tracking PID control system Simulation Pathfinder Build obstacle map Measurements Estimated Obstacle positions Motor inputs Desired Trajectory Graph structure Estimated Position Motor inputs User Interface Choose Target position GPS parser Position Choose Destination Display Video, Map, and Position Video Microcontrollers Atom Board I2C Compass Kalman Filter

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Microcontroller Code Structure (Embedded C) Polling loop with interrupt-driven flags –Periodically (~20 Hz) read sensors and send the data to the Atom board –Interrupts for receiving data on the SCI, and for data-ready signals from sensors –When data received from Atom board, use it to control motors/servos 13

Microcontroller Peripheral Usage SCI –Communication with Atom board ATD –Rangefinders PWM –Servos and Motors Pulse Accumulator –Wheel encoders Timer –Loop through the code at regular intervals 14

Simulation Walkthrough (1) Green is planned route Red ‘X’ is start location White lines are (undetected) theoretical obstacles 15

Yellow lines are (detected) theoretical obstacles Blue is the path already taken The Green path now goes around the detected obstacle Simulation Walkthrough (2) 16

The robot has navigated to the waypoint around the obstacle Simulation Walkthrough (3) 17

Questions? 18

Muli-threaded Flowchart