Robot Convoy

Anees ElhammaliMichael MalluckJohn ParsonsNamrata Sopory

General Overview

+ + 802.11bhardware

)*3+

( +

+ 4*

Aim:

-To get as much hardware to play with…no seriously

-To simulate a remotely monitored and partially controlled convoy

Amigobot Wireless Hub, Game adapter

Olympus Board

CMUCAM Laptop

Convoy bot =

GT SMARTS

Slave Robot1 Slave Robot2

Laptop to control overall application

Master Robot

Primary Goal: Simulate the behavior of a convoy with three robots

Secondary Goal: Build avoidance algorithm and maintain the structure of the convoy

Wireless Link

Wireless Link Wireless Link

Overview Contd.

Part Details

Part Part Details Source Qty

CMU Cams Dr. Hamblen 1

Amigobots Dr. Hamblen 3

Olympus Dev. Kit OLYMPUSSBC-GX1 (Pegasus)

with WINDOWS XP

Arcom 1

Olympus Boards OLYMPUS M0- 16 (with 16Mb

onboard flash)

Arcom 2

Network Adapter WGA11B (wireless game adapter)

Linksys (Amazon.com)

3

Wireless Router (802.11b) BEFW11S4 Linksys(Amazon.com)

1

Voltage Regulators LSN-5/10-D12 Datel 3

Block Diagram

Stops indicated bot and all bots behind it

Emergency Stop

Indicators to let the user know that a bot is stopped because of an obstacle

Gantt Chart

Cost AnalysisComponent Cost (in dollars per unit)

Amigobot Robot 2000

Arcom Olympus board 1000

CMU Camera 150

Linksys (WGA11B) wireless game adapters

50

  One component cost=$3200Intermediate cost= $9600

Linksys BEFW11S4 Wireless Router

70

TOTAL COST ~$9670

Possible Applications

Military :– Surveillance convoy– Transportation convoy

Scientific expeditions Rescue operations Relocation of multiple vehicles (car

dealership)

Bibliography