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Marvin An Intelligent Obstacle Avoidance System

ECE Kenneth Jernigan Brian Pridgen Azhar Khayrattee Jason Haynes Mark Abramovs. CS Jon Ranes MAE Matthew Spurk. Marvin An Intelligent Obstacle Avoidance System. Devices Sonar Infrared GPS Uplink Magnetic Compass Radio Modem PIC Powered. Features Battery Powered

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Marvin An Intelligent Obstacle Avoidance System

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

  2. Devices Sonar Infrared GPS Uplink Magnetic Compass Radio Modem PIC Powered Features Battery Powered Nearly 1 hr runtime Small (17”×15”×7”) Lightweight (~50lb) Robust Robotics Marvin An Intelligent Obstacle Avoidance System

  3. Ideal Design Marvin An Intelligent Obstacle Avoidance System

  4. 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 A Well Structured Team Marvin An Intelligent Obstacle Avoidance System

  5. Microcontroller • PIC18F2220 • 40 MHz • 25 I/O Pins • 10 ADCs • 4 kilobytes ROM • +5VDC Operation • 28 Pin Package • RS-232 • Interface via MAX232 http://www.microchip.com/download/lit/pline/picmicro/families/18fxx20/39599c.pdf • 3 Microcontrollers • Radio Transmitter • GPS Unit • Sensors & Motor Control Marvin An Intelligent Obstacle Avoidance System

  6. Marvin An Intelligent Obstacle Avoidance System

  7. Devantech SRF08 3cm – 6m 40 kHz frequency I2C interface +5VDC Operation 2 Units Either side of Marvin Increase accuracy SONAR Marvin An Intelligent Obstacle Avoidance System

  8. HVW DIRRS+ 10-80cm 5cm detection width TTL High Level Logic +5VDC Operation 3 Output Protocols Serial Hex Original DIRRS Serial CM Infrared Marvin An Intelligent Obstacle Avoidance System

  9. Devantech CMPS03 0.1° resolution 3-4° accuracy +5VDC Operation 2 Output Formats Pulse Width I2C Interface Magnetic Compass Marvin An Intelligent Obstacle Avoidance System

  10. Submini Roller Switch SPDT 5 grams of force UL Listed Power Rating: 5A 250V Contact Bumper Switch Marvin An Intelligent Obstacle Avoidance System

  11. Garmin GPS16-LVS 12 Satellite Channels WAAS Enabled 2 second reacquisition Accuracy: <15 m Communication Serial RS-232 NMEA 0183 ASCII GPS Positioning Marvin An Intelligent Obstacle Avoidance System

  12. FGRM-501X005 OEM Module FGR-115 Economy Module Features 60 mile line-of-sight Error Detection: 32 bit CRC Serial Communication Channel Hopping 112 Channels 902-928 MHz broadcast FreeWave Radios Marvin An Intelligent Obstacle Avoidance System

  13. Home Made Input 5VDC Microcontroller Output Output Scaled Saw-tooth wave PWM Sub-system Saw-tooth wave generator PWM signal Micro-controller Comparator Motor Controller Pulse Width Modulator Marvin An Intelligent Obstacle Avoidance System

  14. PWM Schematic Marvin An Intelligent Obstacle Avoidance System

  15. Robowars IBC Dual Channel 4-36 VDC input Current Limiter 50 continuous amps 75 peak amps 12/24 VDC cooling fan Motor Controller Marvin An Intelligent Obstacle Avoidance System

  16. Custom Frame 1/4” aluminum frame 1/8” aluminum internal support 17”×15”×7” Sturdy Framework Marvin An Intelligent Obstacle Avoidance System

  17. DeWalt 18V Motor 1.5 Horsepower 22,000 RPM @24V 12-25 Nominal Amps DeWalt Transmission Low Gear 450 RPM 400 in-lb torque DeWalt Drive • Overall • Maximum Speed of 3.5 MPH • 70 pounds total pushing power • 1 inch of Ground Clearance • ~1 HR total run time Marvin An Intelligent Obstacle Avoidance System

  18. Yuasa NP18-12B Sealed Lead Acid 12 VDC 17.2 Ah Bolt fastened terminals Datel LSM-5/10-D12 DC-DC Converter Input: 10.8-13.2 VDC Output: 5 VDC No minimum load Raw Power Marvin An Intelligent Obstacle Avoidance System

  19. Embedded Software Recalculates optimal path Traverses edges between nodes Host Interface GUI Absolute Destination Relative Destination History Serial Communication Maintain Serial data to and from modem Marvin’s Brains Marvin An Intelligent Obstacle Avoidance System

  20. All components are testable Input Given in most circumstances Output Desired output known Measurements Ammeter Voltmeter Oscilloscope Interface Software A Testable Design Marvin An Intelligent Obstacle Avoidance System

  21. Avoiding Obstacles • Funding • Working with Development Office • Acquiring Parts • Get parts ordered before Christmas • Time Constraints • Work through Christmas Break Marvin An Intelligent Obstacle Avoidance System

  22. Hard Workers Marvin An Intelligent Obstacle Avoidance System

  23. Big Spenders Marvin An Intelligent Obstacle Avoidance System

  24. Big Money Marvin An Intelligent Obstacle Avoidance System

  25. Questions, Comments, Obstacles? http://www.fit.edu/projects/marvin Marvin An Intelligent Obstacle Avoidance System

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