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MAPPER: A Perfectly Portable Exploration Robot

MAPPER: A Perfectly Portable Exploration Robot. Rohan Balakrishnan (CSE)  Conan Jen  (EE) Andrew Lok (EE) Jonathan Tang (EE). Project Inspiration. Project Vision. Reconnaissance is always important for the military Desired solution is autonomous, small and cheap implementation

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MAPPER: A Perfectly Portable Exploration Robot

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  1. MAPPER: A Perfectly Portable Exploration Robot Rohan Balakrishnan (CSE)  Conan Jen  (EE) Andrew Lok (EE) Jonathan Tang (EE)

  2. Project Inspiration

  3. Project Vision • Reconnaissance is always important for the military • Desired solution is autonomous, small and cheap implementation • With importance of human lives, robots are perfect replacement

  4. Decided Implementation • Autonomous robotic platform capturing information about its surroundings  • Wireless communication link will transfer data back to PDA or Laptop • Transferred data used to construct a 2-D bird's eye view of the environment

  5. Project Considerations • Multiple platform considerations • Non-mobile • Leaves very little time for scanning • Must be impact hardened • Scan rotation depends entirely on trajectory of throw • Multiple sensor considerations • Laser •  Expensive, loses accuracy at range, bulky • Radar • Power hungry, large, expensive, complicated • Optical • Needs large bandwidth on wireless link, software based distancing detection  • Ultrasound • Inexpensive, accuracy issues

  6. Project Specs / Scenario • Initial Phase • Room Limitations: 20'x20‘, flat floor • Method: rotating ultrasonic sensors • Scan time: 5-15 mins • Stationary walls and large objects (minimum 1'x1') only • No manual intervention, straight movement into room • Wireless communications: 100+ ft

  7. Room Scenario

  8. GUI Mockup

  9. Budget PARTS / BUDGET:  Ultrasound Sensor $28 Roomba Create $130 Roomba Standard Rechargable Battery $50 PCB $150 Wireless communication device $27-60 Arduino Clone (ATmega168) Free (M5) Total $385-418

  10. Block Diagram

  11. Roomba Create • Robotics platform from iRobot • Provides serial input to the base • Has a multitude of sensors built in • Allows for addition of parts through expansion port

  12. Standard Roomba Create

  13. Wireless Link Considerations: Bluetooth, RF, WLan Security: • Important because of military applications • Do not want enemy knowing what you know • Do not want false data injection Range: • Need to be able to go through objects • Link must be robust, cannot fail easily • Must be able to deal with interference • Jamming / interference is an issue, especially with military applications 

  14. Stepper Motor • LA23GCK-213 Stepper Motor • Provides basic platform for sensor to turn and sweep • Used to mount the ultrasound sensor onto • 1.8° per step • Ultrasound sensor beam width @ 20 ft. ≈ 6° • Oversampling max room by a factor of 3

  15. Microcontroller • Arduino clone - ATmega168 • Based on the larger Wiring development board • Rapid development with Processing. • Flexibility of AVR C on ATmega

  16. Ultrasound Sensor Sensitivity to Ambient Conditions: • Average room temperature changes will cause sensor to report readings of accuracy ± 5%

  17. Power Sources • The Roomba has its own internal battery • 12 AA alkalines or rechargeable equivalent • Expected battery life (1.5 hrs) • 5V supply from Roomba, 16V supply from Roomba battery • Pin 8 (5V regulated) • Pin 9 (Battery power unregulated) • Power for all our components can be drawn from Roomba

  18. Project Responsibilities • Rohan: Map application on computer/Arduino interfacing • Conan: Wireless/Ultrasound • Andrew: ATMega168/Arduino interfacing • Jon: Stepper Motor + Wireless

  19. Rough Timeline

  20. Challenges • Ultrasonic sensor may have accuracy issues • Roomba movement integration

  21. Questions? • Questions? Comments?

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