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Autonomous Control of Scalextric Slot Car on User-Defined Track

Autonomous Control of Scalextric Slot Car on User-Defined Track. Siddharth Kamath Souma Mondal Dhaval Patel. School of Electrical and Computer Engineering Georgia Institute of Technology. http://www.scalextric-usa.com/. What is Slot Car Racing?. Motor. Electric Contacts. Power Pack.

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Autonomous Control of Scalextric Slot Car on User-Defined Track

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  1. Autonomous Control of Scalextric Slot Car on User-Defined Track Siddharth Kamath Souma Mondal Dhaval Patel School of Electrical and Computer Engineering Georgia Institute of Technology http://www.scalextric-usa.com/

  2. What is Slot Car Racing? Motor Electric Contacts Power Pack Rails Controller Resistor http://www.wikipedia.com

  3. Project Overview Race slot car autonomously against human player Target existing customers who cannot easily find opponents Keep user base active and boost number of repeat customers

  4. System Implementation Position Data Electric Contacts Motor Digital In Power Pack Powered Rails Analog Out USB http://www.wikipedia.com

  5. Design Advantages • Line detector and reflective strips • Cheap to implement • Easy for end user • Scalable • LabVIEW and NI DAQ • Rapid prototyping environment • Integrated data collection • Potential software updates

  6. Main Subsystems Position/Speed Detection Data Transmission Control Algorithm

  7. Reflective Strip 50mm Δt Time Position and Speed Detection 5V 0V • Position – Increment counter once per checkpoint • Velocity – (One value per checkpoint) 50mm Δt

  8. < 17cm Checkpoint n+1 Checkpoint n Spacing Requirements Max slot car speed = 2500 mm/s Max distance between checkpoints = 170 mm Max ping rate = 15 pings/sec Transmission rate = 56,000 bits/sec

  9. HIGH Time Checkpoint Detect 5V 0V

  10. LOW Time Checkpoint Pass 5V 0V

  11. Data Transmission • Data transmitted from car to PC • Wireless transfer using Linx HP3 • Data read in through NI DAQ into LabVIEW on PC • Voltage from PC to track • Control voltage from NI DAQ • DAQ output voltage amplified to meet voltage specifications of track http://www.linxtechnologies.com http://www.ni.com

  12. Wireless Transmission Captures 16 pulses/lap Crack within pulse

  13. Power Supply CR2450 Button cell – Powers the line detector, wireless transmitter on car 5V Voltage regulator – Power efficient, steady output Voltage Regulator http://www.wikipedia.com

  14. Amplifier • LM 741 – Non-inverting amplifier circuit • Input – 0-5V from NI DAQ • Output – 0-12V to track

  15. Amplifier Screen Capture Output from Amplifier (0-12V) Input to Amplifier (0-5V)

  16. Control Algorithm Track Input by User Get Upcoming Track Layout Calculate Track Complexity Position Determine Optimal Track Voltage Speed Desired Track Voltage

  17. Calculating Complexity x – Distance from the front of the car K – Curvature of the track at that point 50cm – The horizon c - Tunes the importance of the curvature relative to distance from car

  18. Complexity Implementation • Currently • Precision of position is one track segment • Next three track segments considered • Single voltage calculated per track segment • In progress • Estimate position between checkpoints • Consider fixed distance ahead of car • Attain more accurate speed profile

  19. Data Errors

  20. Example Data Voltage Time Pulse due to noise (<10ms) Crack in Pulse (<2ms)

  21. Race Replay Feature • Sample track voltage during a race • Data acquired at 10,000 Hz • Save profile to file • Plays profile back • Potential uses of race replay feature • Compete against their own race profiles • Compete against other competitor saved profiles

  22. Budget and Cost Analysis NI USB 6008 (DAQ) $150 HP3 Series Receiver $30 Base Station$180 HP3 Series Transmitter $25 Line Tracker $20 Five 3V Coin Batteries $5 Car$50 Unit Cost $230

  23. Demonstration Plan • Main demo • System drives slot car around circuit without derailing • In case of derailing, slot car can be placed onto last checkpoint and resume normal operation • Supplemental demo • Race slot car against a human opponent • Scale system’s performance based on difficulty setting

  24. Results

  25. Car Development • Original weight of car = 85g • New weight of car = 110g • Attach line detector and circuit board to slot car with Velcro • Line detector no more than 0.5’’ above track • Optional use of antennae for receiver and transmitter

  26. Car Dimensions 75mm

  27. Car Views Battery with Switch Voltage Regulator Line Detector Wireless Transmitter

  28. System Overview Position Data Electric Contacts Motor Digital In Power Pack Powered Rails Analog Out USB http://www.wikipedia.com

  29. System Hierarchy Position Data Digital In Analog Out USB

  30. Demonstration Video

  31. Current Tasks Better position estimates required to improve control Ability to differentiate start checkpoint from other checkpoints Control algorithm needs more fine tuning

  32. Current Status Position detection Velocity detection Data transmission Applying amplified voltage to track Display last checkpoint passed Car development Record and play voltage profile Improve control algorithm

  33. Questions?

  34. Position Detection Sensor http://www.lynxmotion.com/

  35. Line Detector LOW HIGH Phototransistor IR LED Wireless Transmitter

  36. Car Components

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