1 / 23

MAPPER: A Perfectly Portable Exploration Robot

MAPPER is a portable exploration robot designed to replace humans in military reconnaissance. It captures information about its surroundings and transfers data wirelessly for constructing a 2D bird's eye view of the environment. The robot is low power, low cost, and uses a simple trigonometry algorithm to eliminate blind spots. The goal is to have a working sensor array on a non-moving reference to create a map.

raffaello
Download Presentation

MAPPER: A Perfectly Portable Exploration Robot

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript


  1. MAPPER: A Perfectly Portable Exploration Robot Rohan Balakrishnan (CSE)  Conan Jen  (EE) Andrew Lok (EE) Jonathan Tang (EE)

  2. The Problem • Reconnaissance is always important for the military • With importance of human lives, robots are a perfect replacement.

  3. A Scenario

  4. Our Solution • Robotic platform capturing information about its surroundings • Wireless communication link will transfer data back to PDA or laptop • Transferred data is then used to construct a 2-D bird's eye view of the environment

  5. Block Diagram

  6. Flow Chart

  7. PDR Retorts • Potential market (the military, search and rescue teams) • Low Power • Low Cost (estimated final device cost $300) • Portable • Expendable • Software algorithm • Is not computationally intensive • Simple trigonometry • Overlaying points eliminates blind spots

  8. MDR Specifications (Goal) • Working sensor array on non-moving reference(have multiple different reference points and combine it into a map) • Working software which will take distance measurements and display them on Java GUI. • No wireless for now

  9. MDR Specifications • Specs met are in bold • Scan scope: 20'x20' indoor room • Method: Ultrasonic sensor mounted on stepper motor for 360 degree rotation • Scan time: 5-15 mins (to complete 20'x20' room) • Minimum detectable obstruction size: 1'x1' • Semi Autonomous movement • Wireless communications: 100+ ft • Weight: 1-2lbs • Expected Battery Life: 10 rooms per charge

  10. Ultrasound Sensor • Controlled directly from the Arduino • Returns 4 ASCII characters (First character 'R' followed by distance) • Output is inverted • Range is 255 inches

  11. Stepper Motor • Motor is connected to 4 pins leading out from the Arduino development board.  • Draws on 5V power supply from Arduino.  • Performs full 360 degree sweep and reset back to starting position in less than 10 seconds. 

  12. Arduino • We decided to use a standard Arduino development board with the Atmega 168 microcontroller. • Data received from ultrasound via Serial is captured using a Java program. 

  13. Software (Algorithm) • Java GUI takes input from text file (distances) • Distances recorded = polar graph of closest objects • Polar data converted to Cartesian • Data from multiple ranging points combined • Plots overlaid to triangulate on obstructions • More result measurements = more accurate plot • Simulated room before starting with real data

  14. Software GUI (simulated)

  15. Software GUI (simulated)

  16. Software GUI (simulated)

  17. Room Scenario Figure: 3-D model of M-5 study room.

  18. Room Scenario (actual)

  19. Resulting GUI (actual)

  20. Current Cost Breakdown • PARTS / BUDGET • Ultrasound Sensor $28 • Stepper Motor $15 • Arduino Clone (ATmega168) Free (M5) • Total $43

  21. Gantt Chart

  22. Next steps • Complete system integration • Robot base/Movement

  23. Questions? • Questions? Comments?

More Related