1 / 9

Bluetooth Enabled Autonomous Mobile Robot (BEAMR)

Bluetooth Enabled Autonomous Mobile Robot (BEAMR). Sid Gaddam Major: Computer Engg. Areas of Interest: Wireless Communication Digital Logic Design. BEAMR System Overview. Deliverables. Ability to navigate autonomously Implement Collision Avoidance/Detection

royce
Download Presentation

Bluetooth Enabled Autonomous Mobile Robot (BEAMR)

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. Bluetooth Enabled Autonomous Mobile Robot (BEAMR) Sid Gaddam Major: Computer Engg. Areas of Interest: Wireless Communication Digital Logic Design BEAMR

  2. BEAMR System Overview BEAMR

  3. Deliverables • Ability to navigate autonomously • Implement Collision Avoidance/Detection • Establish a Bluetooth Connection • Capturing Images using Camera • Transfer of Visual Data via Bluetooth BEAMR

  4. Resources/Parts Used • MAVRIC IIB uC Board with Atmel Mega128 • Blue Radios Mitsuma Bluetooth Transceiver • C328 VGA Camera with JPEG Compression • Sharp IR Proximity Sensors • 3V Mabuchi DC Motors • Pololu’s Low Voltage Dual Motor Serial Controller • Xiamen Ocular LCD Module • 3x2 Battery Pack, 1x1 Battery Pack • Circular Chassis, Rubber Tyres, Steel Tec • AVR USB-JTAG Programmer • AVR Studio with WinAVR C Compiler BEAMR

  5. Motor Control • Low Voltage Dual Motor Serial Controller by Pololu • Motors driven at 1.5V, Max Current Draw is 1A • Driven by UART0 using a 9600/n/1 setting • 1 config packet = 3B, transmits the number of motors on the serial line and their names info • 1 control packet = 4B, transmits the motor speed & direction for one motor • Gearbox Assembly set up in a 203:1 low speed ratio BEAMR

  6. IR Proximity Sensors • Analog Values converted using ADC module • Sampling Frequency = 115.2 KHz • Vref = 5V, 10-bit resolution • Detection Range = 10cm to 60cm BEAMR

  7. Bluetooth Transceiver • Class 1 Radio with 100m range, 3.3V • Operates at 2.4GHz ISM • Uses Spread Spectrum Frequency Hopping • Asynchronous Connection Link setup • Packet switched link between Host and Client • Automatic Repeat Request scheme implemented • Chip configured by uC sending AT serial commands on UART1 using 9600/n/1 setting • AT Command Format: “Command”<cr> • Response: <cr_lf>OK<cr_lf>, <cr_lf>ERR<cr_lf> BEAMR

  8. VGA Camera with JPEG Compression • Camera configured by uC sending serial commands on UART1 using 9600/n/1 setting • 1 command/packet = 6B • Cam module supports 11 commands • 80x64 pixel color image, JPEG, 60Hz LF • Data packet size is user defined • At 64B/packet, it takes 89 data packets BEAMR

  9. BEAMR

More Related