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Autonomous Rescue Vehicle (Team 10)

Autonomous Rescue Vehicle (Team 10) . Team members: Julia Liston, Vipul Bhat , Krithika Iyer , Ruiyang Lin. Project Overview. Our team’s goal is to build a prototype of a robot that can: Use GPS to locate a lost person Autonomously navigate towards the person

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Autonomous Rescue Vehicle (Team 10)

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  1. Autonomous Rescue Vehicle(Team 10) Team members: Julia Liston, VipulBhat, KrithikaIyer, Ruiyang Lin

  2. Project Overview • Our team’s goal is to build a prototype of a robot that can: • Use GPS to locate a lost person • Autonomously navigate towards the person • Lead him or her back to a safe location, which is the starting location of the robot

  3. PSSCs • An ability to move and steer using appropriate motors and drive systems • An ability to transmit GPS coordinates from the rescue-point transceiver to the robot via an RF module • An ability to receive and process GPS coordinates on the robot and move toward the given coordinates • An ability to detect obstacles and navigate around them using ultrasonic sensors. • An ability to monitor the battery level of the robot

  4. Block Diagram

  5. Block Diagram (continued) Rescue-Point Transceiver +3.3 V Power Supply Module Microcontroller RF Transmitter Module (Xbee Pro) PWR _CTR GPS Module UART (9 bit)

  6. Component Selection

  7. Component Selection (Continued) • Microcontroller • 2 PWM • 2 UART • Minimum 4 ATD • Minimum 14 digital I/O pins • Fast to handle data input (At least 32-bit preferably, with CPU at least 50MHz) • 3.3 V operating voltage • Final choice: PIC32MX120F032B for Robot and for the rescue point transceiver.

  8. Component Selection (Continued) • Motors • Enough torque to handle rugged terrain • Steady state current relatively low to reduce power • Built-in gear box to simplify design • Chose: Dagu 25D Motor with 34:1 Gearbox • GPS receiver • Accurate locating capability • Relatively inexpensive • Communicate through UART • Chose: ADH Technology - GPS-11571 • RF module • Long range communication (6 miles) • Conform to FCC requirements • Chose: Digi International Inc - XBP09-DPSIT-156

  9. Component Selection (Continued) • Ultrasonic Sensors: • Easy to use • ATD • High Resolution • Cost-effective • Chose: Maxbotix LV-EZ4 • H Bridge • Delivers up to 5 A continuous • Low turn-on resistance • Built-in circuit protection • Chose: TLE5206

  10. Packaging • Constraints • Traverse rugged terrain • Lightweight and Sturdy • Room for PCB and off chip peripherals • Minimize cost • Looks cool

  11. Packaging (Continued) PCB GPS Batteries Ultrasonic Sensors

  12. Packaging (Continued) Rescue-Point Transceiver

  13. Schematics (Robot)

  14. Schematics (Robot)

  15. Schematics (Robot)

  16. Schematics (Robot)

  17. Schematics (Robot)

  18. Schematics (Robot)

  19. Schematics (Robot)

  20. Schematics (Transceiver)

  21. Schematics (Transceiver)

  22. PCB Layout (Robot)

  23. PCB Layout (Transceiver)

  24. PCB Layout (Microcontroller) Robot Transceiver

  25. PCB Layout (Transceiver Power Supply) 3.3 Volt Ground

  26. PCB Layout (Robot Power Supply) 3.3 Volt

  27. PCB Layout (Robot Power Supply) -3.3V

  28. PCB Layout (Robot Power Supply) Digital Ground

  29. PCB Layout (Robot Power Supply) 7.2Volt

  30. PCB Layout (Robot Power Supply) Motor Ground

  31. Preliminary Software Design • Completed testing: • Can transmit and receive with UART • ATD • PWM – Motor control • Timing modules and interrupts • Future design: • Motor control • Navigation algorithm – ultrasonic sensors • Process GPS data • Transmit and receive with RF module

  32. Timeline

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