Transcript Autonomous GPS-BOT

Autonomous GPS-BOT
Preliminary Design Review
by
Kery Hardwick, Yevgeniy Khasanov, Naoya Kinuta, Zhe Chuan Luo
October 21, 2003
ECE Senior Design
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Outline
QuickTime™ and a
TIFF (Uncompressed) decompressor
are needed to see this picture.
A robot implementing the
same wheel base as the
one we are going to build
October 21, 2003
• Objective: Our goal for the Senior Design
Project is to design an autonomous robot/vehicle
which is to be guided by a GPS system and
equipped with a collision-avoidance system.
• Project Specifications: The BOT will be
inputted with longitude and latitude coordinates
of the targeted destination. Determining the
direction of the target, the BOT will proceed to
the targeted destination. If the BOT comes upon
an obstacle in its path, it will find a path avoiding
any collision.
ECE Senior Design
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Outline continued…
• Preliminary Design:
– GPS
– Electronic compass
– Sonar sensors
– Three-wheel (2 powered wheels) vehicle BOT
– Interfacing the above components with
microcontrollers
• MDR Prototype Goal:
– Interfacing of components
– Speed/direction-controlled BOT base
– Powering scheme
October 21, 2003
ECE Senior Design
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-Essential ComponentsGPS Receiver
Garmin® GPS 35 TracPak
• Track up to twelve satellites at a time
• One-second navigation updates
• Low power consumption
• Integrated antenna
• 3.6v - 6.0v power supply rating
• 2 rs232 serial interfaces
• The GPS receiver will communicate with a microcontroller via a
rs232 serial interface. We have already tested the operability of the
GPS receiver through rs232 by attaching the receiver to a computer
• Uses the standard NMEA 0183 sentence transmission protocol
• non-WAAS (Wide Area Augmentation System)
October 21, 2003
ECE Senior Design
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-Essential ComponentsBOT Base and Other Components
BOT Platform Zagros MAX ‘97
• Dual 12 volt 20in-lb torque drive motors
• The Max speed is 18 m/min
• Two large drive wheels and a caster wheel
QuickTime™ and a
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• Should be able to move on grass as
pictured on the right (taken from
www.zagrosrobotics.com)
Other Components:
• KVH C100 Electronic Compass
• 2 Sonar Sensors
• Keypad & 4-line LCD Screen
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• 3 PIC16F877 PIC microcontrollers
• Servo Motor
• Base motor driver
October 21, 2003
ECE Senior Design
Motor Driver
5
-Essential ComponentsOther Parts - details
• 12 button keypad (non-matrix)
• 4 line LCD able to display our current
coordinates, destination coordinates,
and the number of satellites in use
• Servo motor with a turn angle of no
less than 270 degrees for supporting
the secondary sonar sensor
• 3 16F877 PIC microcontrollers
supporting rs-232 and I2C transmission
protocols
October 21, 2003
ECE Senior Design
Actual keypad that will be
used in the design
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-Essential ComponentsPower Supply
Main Power source:
Power-Sonic 12 Volt 2.3 Amp Hour
DC Voltage
Regulators
Power-Sonic
Power
source
Two 12 volts Power-Sonic batteries:
-
12V
Analog (2 vehicle motors)
Digital (GPS, Compass…)
Digital Components
•LCD: 6.5V
•PIC (3units): 5V each
•Keypad: 5V
•Electric Compass: 5V
DC-DC voltage regulators:
•GPS: 5V
Receive current from one single power source and
convert input voltage to desire output current
•Sonar Sensor: 5V
October 21, 2003
ECE Senior Design
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Power Budget of the System
Maximal
Voltage (Volts)
Optimal
Voltage ( Volts)
Current
Consumption
(mA)
Dual Channelt Motor
Driver (Servo Motor)
35
5.5
800
4400
Max 97' Motor (per driver)
12
12
1300
15600
Electronic Compass
5
5
15
75
LCD Display
6.5
6.5
4
26
Sonar Sensor (per unit)
5
5
15
75
GPS unit
6
3.6 - 6
120 - 140
870 mW
Keypad
negligible
negligible
negligible
negligible
October 21, 2003
ECE Senior Design
Power
Consumption
(mW)
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Preliminary Design
Part 1 - Positioning and Bot Coordination
October 21, 2003
•
GPS is the primary component. It will inform the BOT of its
current location. A microcontroller will collect the GPS
coordinate data and pass it on to the second microcontroller
that will combine the received GPS data with electronic
compass data and calculate the direction vector for the BOT
•
As mentioned above an electronic compass will be a
supplemental to the GPS in determining the direction the BOT
needs to move in and the direction the BOT is facing. The
precision of the electronic compass will also be significant
factor in our successful completion of the project.
ECE Senior Design
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Part 2 - Object Avoidance
•
GPS
PIC 1
Compass
LCD
PIC 2
Keypad
•
Sonar 1
PIC 3
Sonar 2
Servo
Design Block Diagram
October 21, 2003
Motor
Driver
•
Sonar sensors will also be
mounted to detect obstacles in
the way of the BOT.
1. One sonar facing in the
direction of the movement of
the BOT
2. Second sonar mounted on a
servo motor facing the
direction of the target
The BOT itself will be based on a
two-drive-wheel vehicle, each
wheel equipped with a motor of its
own. There is also a caster wheel
Finally the microcontroller will
interface GPS, electronic compass,
sonar sensors and motors of the
BOT to take inputs and process
into information needed for our
project.
ECE Senior Design
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-BOT in Action-
October 21, 2003
ECE Senior Design
1.
The BOT will first be inputted with a set of
targeted coordinates into a keypad.
2.
The BOT will initialize by determining the
direction it is facing and positions itself so
that it faces the direction of the target.
3.
The BOT will proceed in the direction of
the target until it comes upon an
obstacle. Two sonar sensors will be
mounted on to the BOT. The first sonar
(target sonar) will always be pointing in
the direction of the target mounted on a
servo motor, and the other (front sonar)
aiming straight ahead of the BOT.
4.
When target sonar senses an obstacle,
the BOT will turn left until the front sonar
does not detect anything in its way. When
front sonar is clear it will proceed until
target sensor does not sense anything.
5.
When both sensors are clear it will
proceed to the target.
6.
The procedure will continue until the
destination coordinates and the current
coordinates, fed by the GPS unit,
matches.
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Final Project Specifications
• Operate the BOT at the speed of 18 meters/min in a terrain including
grass and pavement
• Avoid all contact with objects of reasonable shape in the path of the
BOT
• Reach the destination with the accuracy of 10 meters radius of the
target (in good weather)
• Note: the precision of the GPS receiver will be the limiting factor in
the design. According to prior measurements we expect the
engineering quad to have a grid resolution no better than 5 by 10
squares.
October 21, 2003
ECE Senior Design
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Proposed MDR Prototype Specifications
Our goal for this semester is to:
• interface the GPS, electronic compass and the user
interface (keypad and LCD) so data can be taken in and
processed. When this stage is completed we should be
able to accept GPS positioning data from the receiver,
display it on the LCD, and do the same for the electronic
compass. We will also be able to accept input
coordinates from the keypad and display them on the
LCD
• test the speed, turn radius and power consumption of the
BOT base only and be ready to assemble the BOT itself
(without object avoidance)
October 21, 2003
ECE Senior Design
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Work Load of Members
Kery Hardwick- LCD-Keypad Interface & Compass
Interface
Yevgeniy Khasanov- GPS Interface & Data
Parsing
Naoya Kinuta- Carbot Control, GPS Data
Acquisition & Web Manager
Zhe Chuan Luo - Power Supply & Compass
Interface
October 21, 2003
ECE Senior Design
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Time Table of Senior Design Project
Nov. 17-23
Nov. 24-30
Dec. 1-7
GPS Testing,
Data Acquisition,
Carbot Testing
Carbot Control
Carbot Control
Aaron
Power Supply
Compass
interface
Compass
Interface
Zhenya
GPS Interface
GPS Testing,
Data Parsing
GPS Interface
GPS Interface
Kery
LCD-Keypad
interface
Compass
interface
Compass
Interface
Naoya
October 21, 2003
ECE Senior Design
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