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This project aims to design and construct a robotic platform that maintains a fixed safety distance through fixed steering. Its functional description includes modes of operation like fixed navigation, user out of range, and auto out of range. Using ultrasonic sensors and an EMAC microcontroller, the system adjusts motor speed and steering based on user inputs and sensor feedback. The project includes hardware and software subsystem block diagrams, system block diagrams, and a main software flowchart. Lab work involved configuring ultrasonic triggers, reprogramming ESC, and implementing PWM signals for control. Future development may expand its applications in robotics and automotive sectors.
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Robotic Navigation Distance Control Platform By: Scott Sendra Advisors: Dr. Donald R. Schertz Dr. Aleksander Malinowski April 29, 2004
Overview • Objective • Functional Description • System Block Diagrams • Lab Work • Results • Future Development and Research • Equipment / Part List • Sources • Questions
Objective • Design and Build a Robotic Platform • Maintain a fixed safety distance • Fixed steering • Small and economical system • Applications • Robotics • Slow speed moving vehicles • Automotive
Functional Description • Modes of Operation • System I/O • System Diagrams
Modes of Operation Fixed Navigation Mode • User enters fixed safety distance in feet • User enters User or Auto Out of Range Mode • User presses activation button Increment / Decrement Mode • User is able to (increment / decrement) motor speed by one unit manually
Modes of Operation User Out of Range Mode • Followed object is out of range of sensor • Robotic platform stops • “Out of Range” displayed on LCD • User reactivates navigation controls by pressing 0 • “Following” displayed on LCD Auto Out of Range Mode • EMAC reactivates navigation controls when object is detected
Modes of Operation Stop / Reload Mode • User is able to (stop / reload) motor speed manually Navigation Control Mode • User is able control Navigation Mode
Robotic Platform Motor Keypad (User Input) Distance Control Sensor EMAC Microcontroller Robotic Platform Steering LCD Display System Inputs to EMAC User Input • Keypad Sensor Input • Ultrasonic sensors • 1 sensor for distance control
Robotic Platform Motor Keypad (User Input) Distance Control Sensor EMAC Microcontroller Robotic Platform Steering LCD Display System Outputs from EMAC • LCD Display • Current mode of operation • User required input information • Robotic Platform Motor • Robotic Platform Steering • Trigger Pulse for Sensor
System Sensor Diagram Robotic Platform (R/C Car) Moving Object (Similar size to robotic platform) Distance Sensor
System Block Diagrams Hardware • Subsystem Function • I/O of Subsystem Software • Modes of Operation Flowcharts
Sensor Subsystem • SRF04 Ultrasonic Pulse Sensor • Sensor Input Signal • Trigger Pulse of 1.5 ms • Sensor Output Signals • Output signal related to distance • PWM at 33 Hz
Electric Motor Subsystem • ESC and Electric Motor • Input signal • PWM signal from 1.0 ms to 1.7 ms positive pulse width at 33 Hz • Output speed • Motor’s shaft speed varies • Full forward speed with 1.7 ms pulse width • Stop with 1.0 ms pulse width
Steering Subsystem Input signal • PWM signal from 1.1 ms to 1.9 ms positive pulse width at 33 Hz with 1.5 ms as neutral Output • Rotational servo horn to translational movement of steering rod
Hardware Subsystem Block Diagram EMAC Microcontroller Power to Drive Wheels on R/C Car Robotic Platform Motor Subsystem PWM Signal PWM Signal Distance Control Sensor Subsystem Robotic Platform Steering Subsystem Trigger Pulse Translates Steering Rod PWM Signal
Main Software Flowchart EMAC Initialization Keypad Initialization Fixed Steering Control LCD Initialization Control = 0 Fixed Distance Display Prompt: Enter 1-9 feet: Keypad: User enters fixed distance Out of Range Mode Display Prompt: Press 1 for User Press 2 for Auto Keypad: User Enters Out of Range Mode Display Prompt: Press 0 to Activate Keypad: User Enters 0
Main Software Flowchart(Fixed Navigation Mode) Check Control Variable 1 0 No Check if signal from sensor Check Keypad Yes No Enter User/Auto Out of Range Mode Call Software Mode Pressed Yes Measure > Desired Measure < Desired Fixed Distance Control Measure = Desired Increment Motor Speed Decrement Motor Speed
User/Auto Flowchart User/Auto Out of Range Mode Stop Electric Motor Display: Out of Range User Out of Range Mode Auto Out of Range Mode Display: Press 0 to Activate Display: Wait for object Display: Following Waits for User to Press 0 Return
Increment / Decrement Motor Speed Flowcharts Keypad: User Presses Increment Motor Speed Button C Keypad: User Presses Decrement Motor Speed Button E Display Prompt: Manual Inc Speed Press 0 to Activate Display Prompt: Manual Dec Speed Press 0 to Activate Call IncMotorSpeed () Call DecMotorSpeed () Return Return
Stop / Reload Flowcharts Keypad: User Presses Stop Button B Keypad: User Presses Reload Motor Speed Button D Save Current Motor Speed Display Prompt: Reload Last Speed Press 0 to Activate Stop Electric Motor Loads Last Motor Speed Display Prompt: Manual Stop Press 0 to Activate Return Return
Navigation Control Keypad: User Presses Control Button 0 Toggle Control Bit Check Control Variable 0 1 Stop Electric Motor Display: Following Display: Deactivated Return Return
Lab Work • Ultrasonic trigger pulse and servo input signals with 1.5 ms at 33 Hz being neutral using Timer 2 • ESC reprogrammed • Reprogrammed : 1.0 ms stop 1.7 ms full forward • Ultrasonic PWM signal measurements using interrupts • Output PWM signal using Timer 2 on EMAC to control motor speed
Lab Work Control Strategy • Current distance is smaller than user-defined distance -Decrease PWM signal to motor by fixed number • Current distance is larger than user-defined distance -Increase PWM signal to motor by fixed number
Results • All software modes are complete • EMAC on the robotic platform triggers ultrasonic sensor and measures PWM signal from sensor • EMAC increases or decreases motor speed • Robotic platform maintains the entered safety distance from object
Future Development and Research • Model and determine transfer function of robotic platform • Implement a better control strategy • Incorporate steering of platform using more sensors • Using fuzzy logic steering to allow platform to steer non-linearly around corners
Equipment and Parts List • Hitec HS-303 Servo • Kyosho Hoppin Mad RTR R/C Car • Team Novak Rooster electronic speed controller • HP 8011A Pulse Generator • SRF04 Ultrasonic pulse sensors • 80535 EMAC Microcontroller
Sources • http://www.teamnovak.com/Download/acrobat/rooster_superr.pdf • http://www.hitecrcd.com/Servos/DiscontinuedServos/HS303.pdf • http://www.robot-electronics.co.uk/shop/Ultrasonic_Ranger_SRF041999.htm • http://www.i-car.com/html_pages/about_icar/current_events_news/advantage/advantage_online_archives/2004/021604.html • http://www.gavrila.net/Computer_Vision/Smart_Vehicles/Media_Coverage/spectrum.pdf • http://www.ece.msstate.edu/classes/design/ece4532/2003_spring/cruise_control/
QUESTIONS?Project Website: http://cegt201.bradley.edu/projects/proj2004/distcont/