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ECE 345 PRESENTATION

ECE 345 PRESENTATION. Robotic Maze Solver David Yang Niraj Nayak. PLANNED DESIGN. #1. Build a car to navigate maze autonomously #2. Car should store maze in memory and derive optimal solution. PROJECT BUILD. Step-by-Step Modular Design. #1: Serial Communications.

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ECE 345 PRESENTATION

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  1. ECE 345 PRESENTATION Robotic Maze Solver David Yang Niraj Nayak

  2. PLANNED DESIGN • #1. Build a car to navigate maze autonomously • #2. Car should store maze in memory and derive optimal solution

  3. PROJECT BUILD Step-by-Step Modular Design

  4. #1: Serial Communications • Establish Serial Link between HC12 and Jornada running Embedded Visual Basic (EVB) • This allowed us to send commands to MCU

  5. HC12 Serial Port • To send data: • Check that buffer is clear • Write data to serial port data register • To receive data • Check if a byte has been received • Copy data from data register

  6. Jornada Serial Comm. • To send data • Comm1.Output = “a” • To receive data • While Comm1.InBufferCount<?? • Input=Comm1.Input

  7. #2: HC12 PWM • The pulse width and period can be set on a PWM register • Pulse width controls speed of motors through a speed controller

  8. PWM Protocol • EVB sends “b”, HC12 sends both motors forward • EVB sends “c”, HC12 sends both motors backward • etc…..

  9. PWM Example • Neutral Pulse ~1.5ms • Forward Pulse is .5ms longer • Reverse Pulse is .5ms shorter

  10. PWM • Hooked PWM Outputs to Rooster Speed Controllers • Calibrated Speed Controllers • Successfully drove car using EVB

  11. #3 : Sensors • Originally had distance sensors • Very complicated to measure and parse • Many timing issues • Decided to use proximity sensor

  12. Proximity Sensors • Sharp GP2D150A • 15cm range +/- 2.5 cm • Outputs logic low when d>15cm • Outputs logic high when d<15cm

  13. Using Sensors • Send character to MCU • Wire sensors to I/O Port • Send value of port back to EVB • Successfully read sensors with EVB

  14. #4 Algorithm • Right Follow Algorithm- • Move cell to cell • If open right turn, take it • Else move forward • Else move left • Else turn around • This should solve all mazes

  15. #5 Maze • Used a 4 by 4 cell maze • 2’ X 2’ X 1’ dimensions • Constructed out of wood

  16. Maze

  17. #6 Car Settings • Set times to leave motors on to move F one cell • Set times for L,R & Full turns • Used 3 sensors: F, L, and R

  18. Car

  19. #7 Wireless Comm. • Used the “Winsock” object on Visual Basic • Communicated from laptop running VB to Jornada running EVB. • 802.11 Standard

  20. #7 Wireless Comm. • Wireless control • Send commands to Jornada • Manual driving • Move to “Next State” • Read “Current State” of Jornada

  21. #8 Error Correction • Car kept hitting walls of maze • Solution1: Mount extra sensors to detect when we get too close – not robust enough • Solution2: Mount sensors on servos

  22. Error Correction

  23. #9 Optimal Algorithm • Didn’t have time to complete

  24. SUCCESSES • Serial Communications • Wireless Communications • Visual Basic Programming • Modular design • Error Correction

  25. FAILURES • Trying to number crunch • Storing maze in memory • Optimal solver

  26. FURTHER TESTS • Faster Speeds • More runs to determine success rate • More complex mazes

  27. Recommendations • More sensors for better error correction • Rolling vs “Shopping Cart Wheels”

  28. Q & A

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