Transcript Tracking Rover

Tracking Rover
Team Rubber Ducky
Joshua Rubin
Alexander Starick
Ryan Ramos
Alexander Chi
Main Goal
Design a robot to locate and retrieve objects
placed in random locations
Useful in disaster situations to find objects in
places where people can not go
The ability to add many new sensors, both
analog and digital, allows this robot to be
used in many situations
Primary planning stages
Robotic control system
- Motor Direction Control
- Motor Speed Control
- Separate Control for Each Motor
IR Radar
- Constant Velocity Motor
- Rotary Encoder
Power distribution to different components
- Mobile power source
- Highly regulated for SBC and other sensitive
electronics
Secondary planning
stages
Object avoidance using ultrasonic
ranging sensors
Item Retrieval
Remote control of robot (manual
override)
Item identification
User interface with alphanumeric LCD
and 4x4 key pad to allow item selection
General block diagram
Single Board Computer
133Mhz AMD Elan
520 (586) Processor
Compact flash
booting
On board A/D, D/A
and DIO converters
2 serial ports
WiFi communication
via pcmcia card
Advantages of an SBC
High level programming
Extremely fast
Advanced O/S
Embedded system
Simple design
Infrared Radar
360º horizontal
scanning
Fast, accurate
rotational period
Rotary encoder to
indicate sensor
angle
Puck will emit 360º
horizontally
Battery
Supplies +12.8V when
100% charged
Advantages of the
ODYSSEY PC310
- Powerful
- Long run time
- Light (5.9 lb)
- Small dimensions
- Fast to charge
Power Supply
Receive power directly from battery
Supply power to SBC, Motors and
sensors as needed
Voltage needs to be highly regulated
Account for voltage changes due to
battery discharge
Robotic Control
Two motors, two
wheels and
uncontrolled swivel
wheel
IR sensor will
operate by
uncontrolled rotary
motor
Cost Break down
SBC - $320
Power supply (batt. included) and charger $230
IR sensor - $30
Ultrasonic Ranger - $30
Robotic parts
- Chassis - $170
- Motor drivers - $100
- Rotary motor and driver - $100
Total cost = $980
Gantt Chart
Division of Labor
Software - Joshua, Alex C.
Power - Alex S, Joshua
Instruments - Ryan, Alex S
Propulsion - Ryan, Alex C
Assembly - Ryan, Alex C
Possible difficulties
Line of sight issues with IR
Object avoidance algorithm
Radar accuracy
Contingency plan
Remove object avoidance H/W and S/W
Remove object capture ability
Solid mount multiple IR sensors instead
of radar
Questions?