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Robotic Navigation Distance Control Platform

Robotic Navigation Distance Control Platform. By: Scott Sendra Advisors: Dr. Donald R. Schertz Dr. Aleksander Malinowski April 29, 2004. Overview. Objective Functional Description System Block Diagrams Lab Work Results Future Development and Research Equipment / Part List Sources

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Robotic Navigation Distance Control Platform

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  1. Robotic Navigation Distance Control Platform By: Scott Sendra Advisors: Dr. Donald R. Schertz Dr. Aleksander Malinowski April 29, 2004

  2. Overview • Objective • Functional Description • System Block Diagrams • Lab Work • Results • Future Development and Research • Equipment / Part List • Sources • Questions

  3. Objective • Design and Build a Robotic Platform • Maintain a fixed safety distance • Fixed steering • Small and economical system • Applications • Robotics • Slow speed moving vehicles • Automotive

  4. Functional Description • Modes of Operation • System I/O • System Diagrams

  5. Modes of Operation Fixed Navigation Mode • User enters fixed safety distance in feet • User enters User or Auto Out of Range Mode • User presses activation button Increment / Decrement Mode • User is able to (increment / decrement) motor speed by one unit manually

  6. Modes of Operation User Out of Range Mode • Followed object is out of range of sensor • Robotic platform stops • “Out of Range” displayed on LCD • User reactivates navigation controls by pressing 0 • “Following” displayed on LCD Auto Out of Range Mode • EMAC reactivates navigation controls when object is detected

  7. Modes of Operation Stop / Reload Mode • User is able to (stop / reload) motor speed manually Navigation Control Mode • User is able control Navigation Mode

  8. Robotic Platform Motor Keypad (User Input) Distance Control Sensor EMAC Microcontroller Robotic Platform Steering LCD Display System Inputs to EMAC User Input • Keypad Sensor Input • Ultrasonic sensors • 1 sensor for distance control

  9. Robotic Platform Motor Keypad (User Input) Distance Control Sensor EMAC Microcontroller Robotic Platform Steering LCD Display System Outputs from EMAC • LCD Display • Current mode of operation • User required input information • Robotic Platform Motor • Robotic Platform Steering • Trigger Pulse for Sensor

  10. System Sensor Diagram Robotic Platform (R/C Car) Moving Object (Similar size to robotic platform) Distance Sensor

  11. System Block Diagrams Hardware • Subsystem Function • I/O of Subsystem Software • Modes of Operation Flowcharts

  12. Sensor Subsystem • SRF04 Ultrasonic Pulse Sensor • Sensor Input Signal • Trigger Pulse of 1.5 ms • Sensor Output Signals • Output signal related to distance • PWM at 33 Hz

  13. Electric Motor Subsystem • ESC and Electric Motor • Input signal • PWM signal from 1.0 ms to 1.7 ms positive pulse width at 33 Hz • Output speed • Motor’s shaft speed varies • Full forward speed with 1.7 ms pulse width • Stop with 1.0 ms pulse width

  14. Steering Subsystem Input signal • PWM signal from 1.1 ms to 1.9 ms positive pulse width at 33 Hz with 1.5 ms as neutral Output • Rotational servo horn to translational movement of steering rod

  15. Hardware Subsystem Block Diagram EMAC Microcontroller Power to Drive Wheels on R/C Car Robotic Platform Motor Subsystem PWM Signal PWM Signal Distance Control Sensor Subsystem Robotic Platform Steering Subsystem Trigger Pulse Translates Steering Rod PWM Signal

  16. Main Software Flowchart EMAC Initialization Keypad Initialization Fixed Steering Control LCD Initialization Control = 0 Fixed Distance Display Prompt: Enter 1-9 feet: Keypad: User enters fixed distance Out of Range Mode Display Prompt: Press 1 for User Press 2 for Auto Keypad: User Enters Out of Range Mode Display Prompt: Press 0 to Activate Keypad: User Enters 0

  17. Main Software Flowchart(Fixed Navigation Mode) Check Control Variable 1 0 No Check if signal from sensor Check Keypad Yes No Enter User/Auto Out of Range Mode Call Software Mode Pressed Yes Measure > Desired Measure < Desired Fixed Distance Control Measure = Desired Increment Motor Speed Decrement Motor Speed

  18. User/Auto Flowchart User/Auto Out of Range Mode Stop Electric Motor Display: Out of Range User Out of Range Mode Auto Out of Range Mode Display: Press 0 to Activate Display: Wait for object Display: Following Waits for User to Press 0 Return

  19. Increment / Decrement Motor Speed Flowcharts Keypad: User Presses Increment Motor Speed Button C Keypad: User Presses Decrement Motor Speed Button E Display Prompt: Manual Inc Speed Press 0 to Activate Display Prompt: Manual Dec Speed Press 0 to Activate Call IncMotorSpeed () Call DecMotorSpeed () Return Return

  20. Stop / Reload Flowcharts Keypad: User Presses Stop Button B Keypad: User Presses Reload Motor Speed Button D Save Current Motor Speed Display Prompt: Reload Last Speed Press 0 to Activate Stop Electric Motor Loads Last Motor Speed Display Prompt: Manual Stop Press 0 to Activate Return Return

  21. Navigation Control Keypad: User Presses Control Button 0 Toggle Control Bit Check Control Variable 0 1 Stop Electric Motor Display: Following Display: Deactivated Return Return

  22. Lab Work • Ultrasonic trigger pulse and servo input signals with 1.5 ms at 33 Hz being neutral using Timer 2 • ESC reprogrammed • Reprogrammed : 1.0 ms stop 1.7 ms full forward • Ultrasonic PWM signal measurements using interrupts • Output PWM signal using Timer 2 on EMAC to control motor speed

  23. Lab Work Control Strategy • Current distance is smaller than user-defined distance -Decrease PWM signal to motor by fixed number • Current distance is larger than user-defined distance -Increase PWM signal to motor by fixed number

  24. Lab WorkCircuit Diagram

  25. Results • All software modes are complete • EMAC on the robotic platform triggers ultrasonic sensor and measures PWM signal from sensor • EMAC increases or decreases motor speed • Robotic platform maintains the entered safety distance from object

  26. Results

  27. Results

  28. Future Development and Research • Model and determine transfer function of robotic platform • Implement a better control strategy • Incorporate steering of platform using more sensors • Using fuzzy logic steering to allow platform to steer non-linearly around corners

  29. Equipment and Parts List • Hitec HS-303 Servo • Kyosho Hoppin Mad RTR R/C Car • Team Novak Rooster electronic speed controller • HP 8011A Pulse Generator • SRF04 Ultrasonic pulse sensors • 80535 EMAC Microcontroller

  30. Sources • http://www.teamnovak.com/Download/acrobat/rooster_superr.pdf • http://www.hitecrcd.com/Servos/DiscontinuedServos/HS303.pdf • http://www.robot-electronics.co.uk/shop/Ultrasonic_Ranger_SRF041999.htm • http://www.i-car.com/html_pages/about_icar/current_events_news/advantage/advantage_online_archives/2004/021604.html • http://www.gavrila.net/Computer_Vision/Smart_Vehicles/Media_Coverage/spectrum.pdf • http://www.ece.msstate.edu/classes/design/ece4532/2003_spring/cruise_control/

  31. QUESTIONS?Project Website: http://cegt201.bradley.edu/projects/proj2004/distcont/

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