Project Micromouse: Minitaur Team Excelsior. MEET THE TEAM! Emilia Holbik Janel RaabDevin Helmgren...
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Transcript of Project Micromouse: Minitaur Team Excelsior. MEET THE TEAM! Emilia Holbik Janel RaabDevin Helmgren...
MEET THE TEAM!
Emilia Holbik
Janel RaabDevin Helmgren
Devon GriggsFall 2013 Team Lead
Electrical Engineer
Electrical EngineerComputer Science
Computer Science
Primary Adviser: Wayne Lu, PhD
Secondary Adviser: Tammy VanDeGrift, PhD
Client: Wayne Lu, PhD and University of Portland IEEE Chapter
Industrial Adviser: Leon Clark, Urban Robotics
IEEE APEC Conference: Micromouse Competition
Fort Worth, TX ~ March 17, 2014National and International Competition: autonomous and self-reliant robotic
PURPOSE: Create a qualifying Micromouse robot for the Region 6 Micromouse Competition
To provide the foundation for future optimization
The Competition!•The maze is 16x16 multiples of an 18cm x 18 cm
unit square
• The mircomouse must fit in a 25cm x 25cm square region
•The micromouse has a time limit of 7 minutes on the maze, in which it may make up to 7 runs
•If the micromouse is “touched” points will be lost
• The micromouse can make it way back to the start of the maze autonomously
• In between runs the micromouse must wait a minimum of 1s.
• The square the micromouse starts at will always have 3 walls
• The micromouse shall not be fed the maze information
Parts Ordered!!Microcontroller: PIC18F452
Motor Driver: TA8080KIR Sensors: Sharp GP2D120 (Short – 3)
Sharp GP2Y0A02YK(Long – 1)Motor: 100:1 Micro Metal Gearmotor
Encoder: Optical EncoderWheels: Solarbotics RW2i Wheel
Maze: small plywood test maze
The Biggest Concerns So Far…
Problem: Incompatible PartsSolution: Minitaur will be constructed so that it can use various types of parts as needed. Also a prototype will be constructed
first, to ensure the parts are compatible
Problem: Software does not fit in limited capacity of the deviceSolution: Use a bigger memory capacity microcontroller or a
different microcontroller
Problem: Improper tracking and sensor readingSolution: Intensive testing, small scale and large scale to
ensure that the sensors are working correctly
Milestones to Fall Semester
Final Budget Request from Shiley School (10/1/13)Functional Specification Final v1.0 (10/4/13)
Minitaur turns on (10/20/13)Autonomous Algorithm Decided (10/27/13)
Minitaur can sense a wall (10/30/13)Minitaur drives straight (11/3/13)
Maze Traversal Algorithm Implemented (11/10/13)Design Document Final v1.0 (11/15/13)Minitaur turns left and right (11/17/13)
Maze information can be stored (11/24/13)Maze Traversal optimized (12/8/13)
Send PCB Layout to be Fabricated (12/8/13)
Milestones to Fall Semester
Minitaur Traverses Back to Start (1/19/14)Minitaur Traverses Fastest Route (1/26/14)
First Full System Test, Debrief, Bug Fixing (2/2/14)Full System Test 2, Debrief, Bug Fixing (2/16/14)Full System Test 3, Debrief, Bug Fixing (3/2/14)Full System Test 4, Debrief, Bug Fixing (3/9/14)APEC IEEE Micromouse Competition (3/17/14)
Final Report v1.0 (4/4/14)Founder’s Day Presentation (4/8/14)