Robo-Magellan

1. Robo-Magellan Robin Bailey – Team Lead, HW/SW Billy Rond – PC/Embedded SW Daniel Morgan – PC SW David McDougall – Embedded HW/SW

2. Agenda • What is the Robo-Magellan? • Why build it? • Project Goals • Block Diagram • System Overview • Mechanical Approach • Hardware Approach • Software Approach • Costs • Schedule • Questions

3. What is a Robo-Magellan Contest? Objective: Robot to navigate autonomously to a GPS referenced target Robot: Less than 4’x4’x4’ in size and 50lbs in weight. Is to be Fully Autonomous. Target: A GPS Coordinate marked with a Orange Traffic Cone. The Robot must touch the cone. Course: Various Terrain. Robot must traverse grass, asphalt, sidewalk, dirt, curbs, harmless animals, weeds, gullies, etc. GPS signal will be intermittent due to surroundings.

4. 16th Century Explorer First to Cross all Meridians on the Globe First Expedition westward from Europe to Asia Known for Wearing a Beard Later drawn by 4th Grader Devon Essick Honored in late 20th Century by having a Robot Competition named in his honor Who is Ferdinand Magellan?

5. Why build a Robo-Magellan Robot? • Real World problem • Robot navigation in an uncontrolled environment • Autonomous navigation has a variety of applications • Multi-Disciplinary project • Software – Embedded and PC • Hardware – Microcontroller, Sensors, Motors, etc • Mechanical – Platform • National Competitions • Recognition for Team – Employer and Peers • Recognition for USU

6. Project Goals • Functional Robot Platform • Interface with PC • User Interface • Basic High-Level Navigational Behaviors

7. Block Diagram

8. Mechanical Approach

9. Mechanical Hardware • Clod Buster Gearboxes and Wheels • Clod Mod Racing Rock Crawling Chassis • Dual Integy 55T Lathe Motors • Dual High Torque Steering Servos • 7.2v 3300mAh NiMh Battery • Dual Novak XRS Speed Controllers • Flux Capacitor invented by the Late Emmet Brown on Nov 5th 1955

10. Sensor Overview • CMU Camera • Color Sensing to detect the Traffic Cone • Rand McNally GPS Receiver • Devantech SRF04 Ultrasonic Rangers • Sharp GP2D02 Infrared Rangers • Obstacle Detection • Devantech Digital Compass • Direction sensing • Hall Effect Odometer Sensors • Odometry

11. Microcontroller Interfacing • Radio Modem Uart-0 TX-RX • LCD Screen Uart-0 TX / 4-DIO • CMU Camera Uart-1 TX-RX • GPS Receiver 2-DIO • Ultrasonic Rangers (2)2-DIO • Infrared Rangers (2)2-DIO • Digital Compass I2C • Odometer 8-DIO • Servos 5-PWM-DIO • Motor Controllers 1-PWM-DIO

12. BDMicro MAVRIC-IIB AtMega 128 µP

13. Rand McNally GPS Reciever • RS-232 Interface • Separate Microcontroller for Decoding/Interfacing • Cold Start-up Time – 2 to 3 Minutes • Decoding the NMEA String $GPRMC,183729,A,3907.356,N,12102.482,W,000.0,360.0,080301,015.5,E*6F $GPRMB,A,,,,,,,,,,,,V*71 $GPGGA,183730,3907.356,N,12102.482,W,1,05,1.6,646.4,M,-24.1,M,,*75 $GPGSA,A,3,02,,,07,,09,24,26,,,,,1.6,1.6,1.0*3D $GPGSV,2,1,08,02,43,088,38,04,42,145,00,05,11,291,00,07,60,043,35*71 $GPGSV,2,2,08,08,02,145,00,09,46,303,47,24,16,178,32,26,18,231,43*77 $PGRME,22.0,M,52.9,M,51.0,M*14 $GPGLL,3907.360,N,12102.481,W,183730,A*33 $PGRMZ,2062,f,3*2D $PGRMM,WGS 84*06 $GPBOD,,T,,M,,*47 $GPRTE,1,1,c,0*07

14. To GPS or not to GPS? ….That is the question! • Problems with GPS… • Inaccurate • Intermittent • GPS cannot be used for… • Dead Reckoning - Positioning • Absolute Heading - Direction • Distance Traveled – Odometry • GPS will be used for… • Overall Progress toward Goal • Provide a Virtual Goal Location • World Position

15. CMUcam 2 • Track Color blobs at 50 fps • Track Motion at 26 fps • 176 x 255 Resolution • B/W Analog video out • Automatic two axis color tracking • Control 5 Servo outputs

16. Devantech SRF04 Ultrasonic Ranger & Sharp GP2D02 Infrared Ranger • Ultrasonic • Range: 3 cm to 3 m • Digital I/O • Sensitivity: 3 cm stick @ > 2m • IR • Range: 4 in to 30 in • Digital I/O • Only takes measurements upon request saving power

17. Devantech Digital Compass • Provides a heading for the robot • Resolution of 0.1⁰ • Repeatability of 3.5 ⁰ • I²C Interface **Enlarged to Show Texture

18. Hall Effect Odometer • Provides information to the robot on distance traveled • Used, along with compass data,to calculate relative position Wagon Wheel Odometer

19. Coyote Datacom 915L Wireless RS-232 Radio Link • Will connect the MAVRIC-IIB µP to the Laptop which will handle all the mapping.

20. Software Approach • Laptop-PC Software • User Interface • Handle High-Level Behaviors • Mapping and Path Planning • Microcontroller Interface • Microcontroller Software • Handle Low-Level Behaviors • Control Sensors • Control Actuators/Motors • Receive Commands and Report to PC

21. Software IDE & Languages • Development Environment • Command Line Compilation in Cygwin/Linux • Text Based Free Editors e.g. Notepad++/Crimson Editor • Develop PC & Microcontroller software simultaneously • Laptop-PC Software • Language: C • Compiler: Microsoft Visual Studio • Adaptable to Embedded Controller e.g. Arm TS-72000 • Microcontroller Software • Language: C • Compiler: WinAVR GNU C Compiler • May be targeted to many Atmel microcontrollers

22. Robo-Magellan User Interface • Data Logger • Command Prompt • Robot Status • Mapping (future)

23. Costs

24. Schedule - (Gannt Chart)

25. ??? Questions ??? ???