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Autonomous Navigation Using Optical Mice: A Comprehensive Analysis

This presentation by Michael Pusatera explores the innovative use of optical mice as non-mechanical navigation agents in autonomous systems. It covers hardware control, sensor functionality, and actuation mechanisms, detailing the integration of optical sensors, microcontrollers, and communication interfaces. The analysis showcases successful behaviors, including straight-line travel and square navigation. The conclusions emphasize the critical role of sensor placement for accurate navigation and suggest future work on 2D mapping applications derived from mouse data.

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Autonomous Navigation Using Optical Mice: A Comprehensive Analysis

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Presentation Transcript

  1. Mappie By: Michael Pusatera

  2. Summary of Talk • Introduction • Controlling Hardware • Sensors • Actuation • Platform • Behaviors • Conclusions

  3. Introduction • Autonomous Navigating Agent • Use of non-mechanical navigation techniques • Optical Mice

  4. Hardware • Motorola 68HC11 EVBU • 68HC11 microcontroller • Serial Communication Interface • Breadboard for expansion • Mekatronix ME11 • Memory expansion • Digital Outputs • Altera UP1 • Flex 10k FPGA • JTAG programming Interface • PS2 Communications Interface

  5. Sensors • Bump Sensor • Pushbutton switches • Infrared Sensor • Sharp IR sensors • Distance Navigation Sensor • Optical Mice

  6. R1 R2 R3 R4 R? Vcc Vcc Vcc Vcc Bump Switch Design S1 S2 S3 S4 Analog(0) Sensor Report: Bump Sensor

  7. Vcc IR Sensor IR Sensor IR Sensor Infrared Sensor Design Analog(1) Analog(2) Analog(3) Sensor Report: IR Sensors

  8. Sensor Report: Optical Mice • How Optical Mice Work:

  9. Sensor Report: Optical Mice • How Optical Mice Work: • Serial interface • Data, Clk • State Machine • Inhibit USB • Send two commands • Read Data Stream

  10. Sensor Report: Optical Mice • Data Stream

  11. 8 A15 A14 A13 A12 R/W Eclk PortC on HC11 Vcc Mouse Mouse Optical Mouse Design Clk Data Mouse Clk Data Mouse FPGA Enable Reset 8 bit out Reset HC11 Sensor Report: Optical Mice

  12. Sensor Report: Optical Mice • Programming HC11 • Memory mapped: 0x7000 • Output order • MCCR: condition code register for mouse 1 • X[15..8]: upper eight bits of x data for mouse 1 • X[7..0]: lower eight bits of x data for mouse 1 • Y[15..8]: upper eight bits of y data for mouse 1 • Y[7..0]: lower eight bits of y data for mouse 1 • MCCR2: condition code register for mouse 2 • X2[15..8]: upper eight bits of x data for mouse 2 • X2[7..0]: lower eight bits of x data for mouse 2 • Y2[15..8]: upper eight bits of y data for mouse 2 • Y2[7..0]: lower eight bits of y data for mouse 2

  13. Actuation • 2 servos

  14. Platform • Based on TJPro • Larger due to EVBU board size and Distance sensor

  15. Behaviors • Go Straight for 10 feet • Go Straight for 10 feet =>Turn 180°=>Return • Navigate a 4 foot by 4 foot square

  16. Conclusions • Optical mice seem to work as a navigation agent • Placement of mice on robot is critical to accurate data • Mechanically stable platform will have success using mice to navigate • Future work: • Generate position in a 2D map based on mice data • Use 2D mapping for any navigation or mapping applicaitons

  17. References • [1] http://www.altera.com/ • [2] http://www.howstuffworks.com/mouse3.htm • [3] Ty Black, Sensor Report, IMDL • [4] Ty Black, Final Report, IMDL • Acknowledgement: Ty Black

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