1. Autonomous Targeting Vehicle (ATV)
Daniel Barrett
Sebastian Hening
Sandunmalee Abeyratne
Anthony Myers

2. Project Overview Navigation Visual Tracking
- Determine location and trajectory by applying Kalman filter for fusion of data from sensors
- Travel to waypoints which have been entered through Wi-Fi interface
- Detect obstacles with sonic rangefinder(s)
- Avoid said obstacles
Visual Tracking
- Targets identified through Wi-Fi interface
- Targets tracked using Optical flow algorithm
- Web cam turret moves to follow target

3. Updated Block Diagram

4. Design Criteria Computing Power Physical Power/Strength
- Must be able to perform video processing, sensor fusion, navigation, and motor control in real time
Physical Power/Strength
- Motors must be powerful enough to move robot
- Chassis must be strong enough to carry everything
Electrical Power
- Battery must be able to power motors, Atom board, electronics without being too heavy
- Minimize power usage
Sensor Precision/Accuracy
- Sensors should be as precise/accurate as possible
Cost
- We do not want to spend more than necessary

5. Component Selection Atom Board Selection IB88
-Onboard power supply with single 12V input
- Draws less than 2A
- Has Wi-fi
- Single core 1.6Ghz Intel Atom CPU
-FREE for the semester
Zotac IONITX-G-E
- No onboard power supply: requires many inputs at various voltages
- No Wi-fi
- Dual-Core 1.6Ghz Intel Atom CPU
- ~$130

6. Motor/Chassis Kit Selection
Component Selection
Motor/Chassis Kit Selection
Lynxmotion Aluminum 4WD1 Rover Kit
- Sturdy aluminum frame can carry 5lb payload
- Each 12V motor draws 114mA (no load), 233mA(under rated load)
- Motors designed for use with encoders
- $217
DFRobot 4WD
- small plastic frame can carry 1.7lb
- Motors run on 6 AA batteries (low power)
- built-in encoders
- $67
Dagu Wild Thumper
-Sturdy aluminum frame with suspension system
- Each motor draws 420mA with no load
- $250