1. Rokenbok Robot Final Demo
December 11, 2003
Dan Allison
Henrik Christophersen
David Coley
David Do
Bryan Gwin

2. The Design Goals
A small robot to navigate a set of rooms with a total area of 20x20 meters square
Mapping of wall and obstruction data to onboard memory
Avoiding obstacles during movement

3. Requirements for the robot
Small enough to survey a room unnoticed.
Has a limited number of mounted sensors and sonars.
Does the job in a timely manner.
Able to keep track of its position precisely.

4. The Decisions A small toy tank style robot with a custom board
One front infra-red sensor for obstacle avoidance
Another IR sensor on a turret that could rotate 360º

5. Custom Robot Controller board
Altera APEX20KE FPGA w/Nios CPU
Altera EPM7064 Configuration Controller
SRAM (256Kbyte) and Flash (1Mbyte) memory
33.33 MHz clock frequency
30 General Purpose IO 5V compatible
30 General Purpose IO 3.3V compatible
3.3V and 1.8V power regulators
6 layer board

6. Robot Controller board

7. Controller Board Schematic

8. Controller – FPGA image

9. GUI

10. Scan Map & Top Map

11. Software: Main()

12. Software: Explore()

13. Project Planning

14. Design Software & Computers
Cost Analysis 1 10
100
1000
Hardware
$307
$3070
$30700
$307000
Robot
$59
$590
$5900
$59000
Design Software & Computers
$5298
Labor
$14000
Assembly
$75
$750
$7500
75000
Total
$19739
$23708
$50798
$460298