Transcript Regolith Excavator Simulation Project

By: Jennifer Liem
October 16, 2008
PDR

Brief overview
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Block diagram
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Remains to be done
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Gantt Chart
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
Dig in a box 4x4m
Robot
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Work with a power source of 24V.
Minimum mass: 150kg
Fully autonomous
Consume no more than avg. 150W.
Max weight: 70kg.
Use sensors
ME
EE
Wheels/Body
Collector Box
Software
Digger
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Digging strategy
◦ Digging backwards as the robot is moving towards
the collector bin.
◦ Using a conveyor belt to transport the regolith to
the bin.
◦ Digging
◦ ~5cm at a time
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Collector
◦ Will deposit regolith from bottom of box.
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Wheels
◦ Leaning towards the use of treads.
 Wheels sank into the regolith
 Treads are not favorable for turning.
VS.
http://www.classictintoy.com/images/treads/btra.jpg
Map out area until all
4 rocks are found.
Map out area until all
4 rocks are found.
Mapping
Create map as a 2D
array
Using long range
infrared sensors to
orient oneself.
Using A* best path
search algorithm.
Want to find the largest
rectangular area farthest
from the ramp.
Solving
Need to use triangles
to find x,y
coordinates.
Not allowed to use walls to
orient.
4m
4m

Mapping
◦ Need the calculations to determine current location
◦ Decide whether to find all the rocks first or not.
◦ Not allowed to use walls.
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Sensor testing
◦ Determine if different materials give different
readings
◦ Test the sensors
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Solving
◦ Want largest rectangular area for digging
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Insert all the data into a simulator.
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Questions?