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Locomotion Jad Farah Long Quy Patrick Swann Korhan Demirkaya Ngoc Mai Navigation

Locomotion Jad Farah Long Quy Patrick Swann Korhan Demirkaya Ngoc Mai Navigation Steven Weaver Denden Tekeste Ali Alkuwari Marcus Schaffer. Objective. Design & build an autonomous robot with ability to :

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Locomotion Jad Farah Long Quy Patrick Swann Korhan Demirkaya Ngoc Mai Navigation

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  1. Locomotion Jad Farah Long Quy Patrick Swann Korhan Demirkaya Ngoc Mai Navigation Steven Weaver Denden Tekeste Ali Alkuwari Marcus Schaffer

  2. Objective Design & build an autonomous robot with ability to: • Navigate a given course -Pass through gates by sensing beacon • Avoid obstacles -Various sensors to plot track of robot • Control functions: -High (BEAGLEBOARD) -Low (AVR1 & 2)

  3. Project Requirements • Various sensors to plot track of robot • Detect ultrasonic beacons within 15 - 25 feet • Fits within a 16”x16”x16” cube • Has clearly labeled emergency stop switch • Travels 1.5 ft/sec • Regulates voltage

  4. Block Diagram

  5. Block Diagram - Navigation

  6. Block Diagram – Locomotion

  7. Assembly • aluminum body • specially designed PCBs

  8. Assembly • unique wire layout and alternative

  9. Assembly • switches for logic & motor power • fuses

  10. Mounting • Various Sensors • H-Bridge

  11. Mounting • GPS & Compass • Beagle Board • AVRs

  12. PCB Design • HBridge + Voltage Regulator  • GPS • Compass • UART • Wheel Encoder • Daughter board • Sensors: Beacon, Ultrasonic, & Flex

  13. Motor Control • Hardware : Wheel Encoders, H-Bridge, dedicated micro controller • Software : Speed / PID Control • Multiple speeds 1kHz–slowest speed ≈ 0.8 feet/second 3kHz–fastest speed ≈ 2.5 feet/second

  14. Beagle Board • Robot brain – high level control • Python code • GPS parsing • Object avoidance

  15. AVR • serial coding for sensors • powered with one 7.2V

  16. GPS & RF • 300 lines ofPython code • GPS equation estimates coordinates, distance, & direction on map • RSSI equation to estimate distance of beacons • 2 UART – 5V & 3.3V output

  17. Sensors

  18. Milestones • Turtle’s Body • Parts Mounted • Code • PCB • Interface Beagle Board & AVR together

  19. Budget Beagle Board $150 AVRs $105 GPS $50 Batteries $82 Sensors $78 Labor Cost $0

  20. Website http://turtle.sdsu.edu

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