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Bluetooth Enabled Autonomous Mobile Robot (BEAMR)

Bluetooth Enabled Autonomous Mobile Robot (BEAMR). Sid Gaddam Major: Computer Engg. Areas of Interest: Wireless Communication Digital Logic Design. BEAMR System Overview. Deliverables. Ability to navigate autonomously Implement Collision Avoidance/Detection

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Bluetooth Enabled Autonomous Mobile Robot (BEAMR)

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  1. Bluetooth Enabled Autonomous Mobile Robot (BEAMR) Sid Gaddam Major: Computer Engg. Areas of Interest: Wireless Communication Digital Logic Design BEAMR

  2. BEAMR System Overview BEAMR

  3. Deliverables • Ability to navigate autonomously • Implement Collision Avoidance/Detection • Establish a Bluetooth Connection • Capturing Images using Camera • Transfer of Visual Data via Bluetooth BEAMR

  4. Resources/Parts Used • MAVRIC IIB uC Board with Atmel Mega128 • Blue Radios Mitsuma Bluetooth Transceiver • C328 VGA Camera with JPEG Compression • Sharp IR Proximity Sensors • 3V Mabuchi DC Motors • Pololu’s Low Voltage Dual Motor Serial Controller • Xiamen Ocular LCD Module • 3x2 Battery Pack, 1x1 Battery Pack • Circular Chassis, Rubber Tyres, Steel Tec • AVR USB-JTAG Programmer • AVR Studio with WinAVR C Compiler BEAMR

  5. Motor Control • Low Voltage Dual Motor Serial Controller by Pololu • Motors driven at 1.5V, Max Current Draw is 1A • Driven by UART0 using a 9600/n/1 setting • 1 config packet = 3B, transmits the number of motors on the serial line and their names info • 1 control packet = 4B, transmits the motor speed & direction for one motor • Gearbox Assembly set up in a 203:1 low speed ratio BEAMR

  6. IR Proximity Sensors • Analog Values converted using ADC module • Sampling Frequency = 115.2 KHz • Vref = 5V, 10-bit resolution • Detection Range = 10cm to 60cm BEAMR

  7. Bluetooth Transceiver • Class 1 Radio with 100m range, 3.3V • Operates at 2.4GHz ISM • Uses Spread Spectrum Frequency Hopping • Asynchronous Connection Link setup • Packet switched link between Host and Client • Automatic Repeat Request scheme implemented • Chip configured by uC sending AT serial commands on UART1 using 9600/n/1 setting • AT Command Format: “Command”<cr> • Response: <cr_lf>OK<cr_lf>, <cr_lf>ERR<cr_lf> BEAMR

  8. VGA Camera with JPEG Compression • Camera configured by uC sending serial commands on UART1 using 9600/n/1 setting • 1 command/packet = 6B • Cam module supports 11 commands • 80x64 pixel color image, JPEG, 60Hz LF • Data packet size is user defined • At 64B/packet, it takes 89 data packets BEAMR

  9. BEAMR

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