1 / 24

GPS Robot Navigation Critical Design Review

GPS Robot Navigation Critical Design Review. Chris Foley, Kris Horn, Richard Neil Pittman, Michael Willis. Need. Unmanned and automated systems Can protect human lives Can provide convenience and safety Military Warfare Dangerous locations Surveillance Civilian Everyday navigation.

lyn
Télécharger la présentation

GPS Robot Navigation Critical Design Review

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. GPS Robot NavigationCritical Design Review Chris Foley, Kris Horn, Richard Neil Pittman, Michael Willis

  2. Need • Unmanned and automated systems • Can protect human lives • Can provide convenience and safety • Military • Warfare • Dangerous locations • Surveillance • Civilian • Everyday navigation

  3. Goal and Objectives • Goal: Develop a GPS guided system that will successfully navigate to a series of pre-defined coordinates. • Objectives: • Stable, sturdy system • Able to start at any location • Follow a pre-defined path • Be able to avoid obstacles

  4. Litterature • www.oopic.com • www.junun.org/MarkIII • The Devantech SRF04 Ultrasonic Range Finder • Optical EC Encoder Kit Documentation

  5. Design Contraints • Budget • Time • Technical Scope

  6. Alternative Solutions • Compass or not ? • Reprogram using a laptop, or a keypad ? • Control the car by tapping into the servos or by using the remote control circuit ?

  7. Final Design Breakdown • Mark III Board with OOPic provides control • Sonar Configuration provides obstacle detection • GPS and Compass provide navigation information

  8. Final Design Breakdown • User interface through serial connection to computer • LCD provides user feedback • Battery and voltage regulation provide power to components

  9. Subsystems • Object Detection System • Velocity Control System • Navigation System

  10. Object Detection • Sonar: -- Efficient outdoors -- Far range • Devantech SRF04 Ultrasonic range finder. • Range 3” – 10’

  11. SRF04 Controller Interface • 4 pins: Power, Ground, input Trigger, and output Echo. • Trigger 0→1: Sonar emits a ping and the Echo → 1. • Echo → 0 ping returned.

  12. SRF04 Algorithm • Time length Echo is high. • Sea level sound travels 2’/1.8 mSec. • Obj. Distance ft. = (time sec.) * (1/.0018)

  13. Sonar Configuration

  14. Velocity Control • Manual speed control • Servo controls motor voltage. • Optical Encoder measure angular velocity.

  15. Optical Encoder • E3 optical encoder US Digital Corp. • 3 output channels A, B, and Index used read quadrature track. • A leads B, rotating CW. B leads A, rotating CCW. • Index: 1 pulse / rev.

  16. Velocity Control (cont.)

  17. Navigation System • Inputs: destination coordinates, current GPS coordinates, compass heading, steering commands (from collision avoidance system) • Outputs: steering control commands, speed control commands, coordinate reading

  18. Navigation System • Function: control the movement of the robot along a path • Uses algorithm programmed into the OOPic to make path calculations based on current inputs • Will always choose best path from current location

  19. Validation and Testing Procedures • Test individual components(speed control, steering, sonar, lcd, gps, compass, navigation algorithm) • Integrate and test piece by piece • Test system as a whole

  20. Schedule

  21. Division of Labor and Responsibilities • The GPS unit and Navigation Algorithm: Chris and Michael • Compass, Sonar and Servos: Kris and Neil

  22. Economic Analysis • Economical Viability • Total cost per unit: $352.50 • Sustainability • Components from various vendors • Manufacturability • FCC compliant GPS • Production yield dependant on number of workers

  23. Societal, Safety, and Environmental Analysis • Use the robot for locations that are unsafe for humans or difficult to get to. • Exhibit normal care and safety measures that apply when using electronic equipment • Carefully plan path so as not to harm environment

More Related