Administrative Introduction Our goals for this project is for the two robots to work together...
-
Upload
merry-ball -
Category
Documents
-
view
214 -
download
0
Transcript of Administrative Introduction Our goals for this project is for the two robots to work together...
![Page 1: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/1.jpg)
![Page 2: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/2.jpg)
Administrative Introduction
• Our goals for this project is for the two robots to work together intelligently using wireless communication
• Not only did we want a cost effective robot we wanted to make the whole process of an autonomous robot solving a maze more efficient and faster.
![Page 3: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/3.jpg)
Project Goals• To build 2 robots that work together to navigate a
maze
• The robots must communicate wirelessly and analyze information intelligently
• The robots must use each other’s information to gain information on how to solve the maze
• The robots should be able to figure out where and how far the walls are from them and record which routes have been taken to learn the maze
![Page 4: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/4.jpg)
Specifications and Requirements
• 2 robots that communicate through a wireless connection
• The base of the vehicle should be able to rotate 360°• The code should execute immediately and the robots
should not pause longer than 10s • Robots should be able to measure their distance from
the wall to a degree of error not greater than 4 cm• Robots should be able to store maze information and
send it• The robot should be able to identify dead ends in no
more than 5s• Each robot should cost less than $150 to construct
![Page 5: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/5.jpg)
System Design DiagramSystem Design Diagram
![Page 6: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/6.jpg)
Microcontroller Choices
![Page 7: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/7.jpg)
Microcontroller – Arduino Duemilnaove
• ATMEGA328
• USB Interface
• Cross-platform
• Open source
• 32 KB Flash Memory
• Well documented
![Page 8: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/8.jpg)
Compass Module – HMC6352
• Simple I2C interface
• 2.7 to 5.2 V supply range
• 1 to 20 Hz selectable update rate
• 1 degree repeatability
• Supply current: 1 mA @ 3 V
• 0.5 degree heading resolution
![Page 9: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/9.jpg)
Batteries
![Page 10: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/10.jpg)
Power Needs
Volts milliamps
Rangefinder 5 V 2 mA
DC Motors 3 V 150 mA
Compass 5 V 10 mA
Xbee 1 mW Chip Antenna
3.3 V 50 mA
• From testing we discovered that it was beneficial to power the motors and the microcontroller separately with a 9 V battery and a 4.5 V DC battery.
![Page 11: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/11.jpg)
H-Bridge
• SN754410 Quad Half H-Bridge
• Capable of driving high voltage motors using TTL 5V logic levels
• Can drive 4.5V up to 36V at 1A continuous output current
![Page 12: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/12.jpg)
Pololu QTR- 1RC Reflectance Sensor
• Operating Voltage : 5 V• Supply current: 25 mA• Max recommended
sensing distance: 0.25” (6mm)
• Optimal sensing distance: 0.125” (3mm)
• Digital I/O compatible
![Page 13: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/13.jpg)
Xbee Shield
• Mounts directly onto your Arduino
• 3.3V power regulation and level shifting on-board
![Page 14: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/14.jpg)
XBee Chip Antenna
• 3.3V at 50 mA
• 250 kbps Max data rate
• 300 ft range
• 6 10-bit ADC input pins
• 8 digital IO pins
![Page 15: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/15.jpg)
Base Vehicle• In deciding the body of the autonomous
robot a number of concerns came into play.
• The robot needs to be sturdy yet lightweight in order to mount all the additional parts
• The robot must be able to turn on a dime and navigate corners in order to travel the maze effectively
• The platform of the robot should be a disc like shape
![Page 16: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/16.jpg)
Navigational system• The navigational system we had to choose from
– Two wheel
• Light Weight
• More effective in maneuvering the maze
• Cost effective
– Three wheel
• Center of gravity is in a triangular shape which makes it very easy to fall
• Does not perform well on any form of rough terrain
• Not as efficient or cost effective
– Four wheel
• Its much harder to build and much more costly
![Page 17: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/17.jpg)
Frame of Vehicle– Pololu Round Robot
Chassis• It has many holes and slots to
mount the hardware
• Low cost at $25
• Able to turn on a dime
• Light weight
![Page 18: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/18.jpg)
Servos
• DC Motors
• RC Motors
• Stepper Motors
![Page 19: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/19.jpg)
DC Motors
• Compact Size
• High efficiency– Low current
consumption
– Low starting voltage
• Low inertia
• Reliable– Longer service life
– Low inductance
![Page 20: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/20.jpg)
Labyrinth
![Page 21: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/21.jpg)
Simply Connected Maze
![Page 22: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/22.jpg)
Disjoint Maze
![Page 23: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/23.jpg)
Tremaux's Algorithm•If you encounter a new junction:
Pick a direction at random
•If you are traversing a new path and you encounter an old junction:
Turn back
•If you are traversing an old path and you encounter a old junction:
Take a new path if available, otherwise take an old path
•If you encounter a dead end:
Turn back
![Page 24: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/24.jpg)
Graphs
![Page 25: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/25.jpg)
Mazes as Graphs
![Page 26: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/26.jpg)
Mazes as Graphs
![Page 27: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/27.jpg)
Graph TraversalSearch (Vertex startV)
List vertices = empty List
Set visited = empty Set
Add startV to vertices
while (vertices is not empty)
{
Vertex V = remove element from vertices
if (visited does not contain V)
{
// Handle V here
// (e.g. check if destination Vertex)
Add V to visited
for every Vertex X connected to V
if (visited does not contain X)
Add X to vertices
}
}
}
![Page 28: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/28.jpg)
Constructing the Maze
![Page 29: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/29.jpg)
SeedStudio Ultrasonic Range Finder
• Breadboard friendly• Arduino library ready• Light weight• Wide range from 3cm – 400
cm
![Page 30: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/30.jpg)
SeedStudio Ultrasonic Range Finder
• Efficient communication between the micro-controller
• Best if used in 30°
![Page 31: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/31.jpg)
Testing
• DC Motor/H-Bridge wheels test
• Chassis test with wheels turning on axis
• Rangefinder test
• Compass test
• Pololu QTR- 1RC Reflectance Sensor Test
![Page 32: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/32.jpg)
Project Budget and Financing• The Budget to the End of the Project
Part Name # of Parts Price
Pololu QTR-1RC
Reflectance Sensor
4 $52.06
Pololu Round Robot Chassis
2 $25
SeeedStudio Ultrasonic
Range Finder
2 $38.25
Bluetooth USB Module Mini
2 $33.58
Xbee Explorer Dongle
2 $49.90
Part Name # of Parts Price
Xbee 1mW Chip Antenna
2 $69.75
Xbee Wirless Shield
2 $73.56
H-Bridge Motor Driver
10 $23.50
Arduino Uno 2 $59.90
Arduino Duemilanove
Starter Kit
1 $54.94
Total $510.39
![Page 33: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/33.jpg)
Project Budget and Financing
• The Budget of just the Robot PartsPart Name # of Parts Price
Pololu QTR-1RC Reflectance Sensor
4 $52.06
Pololu Round Robot Chassis
2 $25
SeeedStudio Ultrasonic Range Finder
2 $38.25
Arduino Uno 2 $59.90
H-Bridge Motor Driver 2 $4.70
Xbee Wireless Shield 2 $49.90
Xbee 1mW Chip Antenna 2 $45.90
Total $270.71
![Page 34: Administrative Introduction Our goals for this project is for the two robots to work together intelligently using wireless communication Not only did.](https://reader030.fdocuments.in/reader030/viewer/2022032803/56649e3b5503460f94b2d377/html5/thumbnails/34.jpg)
Questions?