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Maria Pacana

Using an Electromagnetic and Acoustic Sensing Device to Determine Direction and Range Part of the Intelligent Ground Vehicle Project. Maria Pacana. Objective.

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Maria Pacana

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  1. Using an Electromagnetic and Acoustic Sensing Device to Determine Direction and Range Part of the Intelligent Ground Vehicle Project Maria Pacana

  2. Objective • The implementation of an electromagnetic and acoustic sensing device that determines range and direction to enable one autonomous vehicle to follow another.

  3. Sensing array: • PIC-C microcontroller • Radio transmitter • Radio receiver • Sonar transmitters and receivers

  4. Sonar and Radio Transmitters • Sonar and radio transmitted together • Controlled by an LMC 555 CMOS Timer at 1.66 Hz • Rolling code radio transmitter, hard to electronically ‘crack’.

  5. The Radio And Sonar Receivers The Radio and Sonar Recievers • The sonar receiver must transmit in order to receive • When the radio receiver gets a signal, it initializes the sonar and enables it to receive. • The sonar receiver must transmit in order to receive. • When the radio receiver gets a signal, it initializes the sonar and enables it to receive.

  6. Diagram of Sensing Array SPEED OF LIGHT RADIO XMIT RADIO RCVR PIC -C MCU TIMER SPEED OF SOUND ACOUSTIC XMIT BINAURAL SENSOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

  7. How It Works: • The radio receiver gets the electromagnetic part of the signal at the speed of light. • The sonar receiver gets the acoustic part of the signal at the speed of sound. • The difference between the electromagnetic and acoustic signals indicates range. • The difference between each ‘ear’ of the binaural receivers indicates direction.

  8. T = 0 Diagram of the Signals RADIO RCVR LEFT ‘EAR’ RIGHT ‘EAR’ TIME tElapsed = 20 ms

  9. Navigation • To test this system, the receivers were mounted on an autonomous mobile robot and connected to a PIC-C microcontroller. • The robot takes the difference in readings between each ear of the binaural sonar receivers in order to correct itself. • The greater the difference, the more the robot ‘corrects.’

  10. N START 300 < L < 700 300 < R < 700 N RADIO ? ROBOT CORRECTS L = R Y INIT COUNT GO FORWARD DELAY .5 ms N 0 < L < 300 0 < R < 300 SET MAX = 1000 STOP ROBOT TURNS Y 700 <L < MAX 700<R< MAX N GO FORWARD

  11. Advantages and Disadvantages • Is not affected by sunlight • Has more range, less resolution than IR • The 400 V excitation pulse that switches the sonar on and off can cause electrical noise in other circuits • ‘Echoes’ from the receiver

  12. Thanks to: • Professor Roman Kuc • Ed Jackson • The Intelligent Ground Vehicle Team

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