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

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

3. Project Requirements Detect beacons within 15 - 25 feet Fits within a 16”x16”x16” cube Has a clearly labeled emergency stop switch

4. Yertle’s Journey

5. Flow Chart

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

7. NAVIGATION

8. Block Diagram: Navigation

9. Path Finding

10. 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

12. 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

13. LOCOMOTION

14. Block Diagram: Locomotion

15. Motor Control : H-Bridge Motor direction Speed by PWM

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

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

18. HOW IT ALL COMES TOGETHER

19. Overall System: Block Diagram

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

24. Daughter Board

25. Final Robot

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

27. 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

28. Website http://turtle.sdsu.edu