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Marvin An Intelligent Obstacle Avoidance System

Marvin An Intelligent Obstacle Avoidance System. ECE Kenneth Jernigan Brian Pridgen Azhar Khayrattee Jason Haynes Mark Abramovs. CS Jon Ranes MAE Matt Spurk. What is Marvin?. An Autonomous Robot Small Crawler Battery Powered Capabilities Senses obstacles Long range Short range

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Marvin An Intelligent Obstacle Avoidance System

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  1. MarvinAn Intelligent Obstacle Avoidance System • ECE • Kenneth Jernigan • Brian Pridgen • Azhar Khayrattee • Jason Haynes • Mark Abramovs • CS • Jon Ranes • MAE • Matt Spurk

  2. What is Marvin? • An Autonomous Robot • Small Crawler • Battery Powered • Capabilities • Senses obstacles • Long range • Short range • Intelligent navigation • Shortest path • Around any obstacle • Wireless Control

  3. The Robot • Speed • 8 mph • Operating Time • 20 minutes • Weight • < 50 lbs. • Features • 1.5’ x 1’ x 1’ • Tank Treads • Multiple Sensors • RF Communication

  4. Sensors • Long-Range Ultrasonic • 3-10 m • Short Range Infrared • <3 m • Contact Bumper • Global Positioning System • Magnetic Compass

  5. Communication • Commands • Destination • Status Request • Return Data • Physical Status • Digital State • Waiting • En-route • Avoiding obstacle • Unable to reach destination

  6. The Host • User Interface • Data Reports • Provide access to data received from Marvin • User Inputs • Allow user to input desired commands

  7. Power Supply Positioning System Sensor(s) Microcontroller(s) Communications System Motor Control Motors Drive System Base Station Application User Interface System Integration

  8. Design Options • Positioning • GPS • Communication • Wireless Serial • Sensors • Ultrasonic • Infrared • Contact Bumper • Magnetic Compass

  9. More Design Options • Microcontroller • Multiple PICs • Motor Controller • Component Design • Power Supply • Sealed Lead Acid Batteries • Drive System • Tank Treads • Frame and Chassis • Aluminum

  10. Kenneth Jernigan Project Leader Status Report Compiler Brian Pridgen Systems Engineer Change Control Kenneth Jernigan Web Master Funds Locator Mark Abramovs Microcontroller Azhar Khayrattee Sensor Integration Jason Haynes Motor Control Machining Parts Brian Pridgen Wireless Control GPS Integration Matt Spurk (MAE Junior) Mechanical Design Jon Ranes (CS Senior) Obstacle Avoidance Team Organization

  11. Risk Mitigation • Complex Data Processing • No vision system • Separate PICs for sub-systems • Schedule Limitations • Motivated team • Aggressive scheduling • Programming and Mechanical Needs • Added dedicated CS and MAE team members

  12. Actual v. Budgeted Hours

  13. Estimated Expenses

  14. Current Financial Status

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