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Multiple Parameter S teering Platform & Ping P ong B all Retrieval Unit

Bryan Jackson EEL 5666 IMDL Spring 2010. Multiple Parameter S teering Platform & Ping P ong B all Retrieval Unit. Summary. Mobile platform based on the Jeep Hurricane

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Multiple Parameter S teering Platform & Ping P ong B all Retrieval Unit

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  1. Bryan Jackson EEL 5666 IMDL Spring 2010 Multiple Parameter Steering Platform & Ping Pong Ball Retrieval Unit

  2. Summary • Mobile platform based on the Jeep Hurricane • Platform will have a near zero turning radius to aid in reducing the amount of travel that the platform must have to travel in tight spaces • This will aid the platform as it seeks to collect ping pong balls in a confined area

  3. Introduction • This presentation will discuss the proposed concepts that will be used in developing the mobile platform for the IMDL course. • The student is required to design, build, and program an autonomous mobile robot using kit parts combined with novel circuits and mechanics or build a completely pre-designed robot kit and then program sophisticated machine intelligence behaviors. • This can encompass a particular activity (i.e., inverse kinematics for robotic motion) that demonstrates all of the necessary concepts as outlined in the class syllabus.

  4. Presentation: Specifications • The driving force behind the proposed platform is the 2005 Jeep Hurricane Concept. • The Jeep Hurricane is equipped with 4 wheel or all-wheel steering. • Each wheel can turn independently of the others as well as toe in, allowing it to “crab”

  5. Presentation • The vehicle was equipped with a patented system that allowed it to reduce the amount of room that it needed to turn or steer, allowing it to have a (near) zero-turning radius. • This is the ability for all four wheels to be turned to in different directions at high or low speeds • These concepts will be applied in some fashion to the Quadro robot.

  6. Quadro • Quadro will have a similar type of steering system • This will allow it to maneuver adroitly as it seeks to collect ping pong balls • This type of platform is better suited to use parts from LEGO Technic rather than wood.

  7. Conclusions • Concept needs more research to understand how to bridge the gap between the Lego control elements and the Atmel board • Thus far, there isn’t a defined set of directions available for the design and construction of the type of steering found on the Hurricane. • This may entail a reduction in scope due to the number of parts.

  8. Future Work • Finding a suitable source of funding • Developing the four-wheel steering system • Sensor layout • Developing code for needed sensors

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