PRESENTATIONsem2

boorishadamantAI and Robotics

Oct 29, 2013 (4 years and 2 months ago)

99 views

A.G.I.L.E

Team Members:

Brad Ramsey

Derek Rodriguez

Dane Wielgopolan


Project Managers:

Dr. Joel Schipper

Dr. James Irwin



Autonomously Guided Intelligent Lawn Equipment

ECE Department

A.G.I.L.E

Team Members:

Brad Ramsey

Derek Rodriguez

Dane Wielgopolan


Project Managers:

Dr. Joel Schipper

Dr. James Irwin



Autonomously Guided Intelligent Lawn Equipment

ECE Department


3

Bradley University
TOP SECRET


PRESENTATION

OUTLINE



PROJECT SUMMARY


PROJECT OBJECTIVES


DESIGN CHANGES


ADDED/REMOVED FEATURES


HARDWARE OVERVIEW


SOFTWARE OVERVIEW


SEMESTER TIME LINE


ORIGINAL


UPDATED



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Bradley University
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Project Summary


The goal of the project is to create a proof
of concept autonomous lawnmower.


The lawnmower will stay in a defined area
and avoid obstacles while efficiently
mowing.




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Bradley University
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PROJECT OBJECTIVES


Vehicle Movement


Detect the field boundaries using RF


Track vehicle’s orientation


Detect and avoid objects


Safety shutoff switch and bump sensors


Design a lawnmower navigation algorithm


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Bradley University
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PROJECT OBJECTIVES


Vehicle Movement


Get chassis, battery, and motors


Create PWM signal using hardware


Use H
-
Bridge to drive motor from PWM


Detect the field boundaries using RF


Set up transmitting test area


Design and implement two single supply band pass RF receivers


Test receivers in test area and record data


Use ADC to collect data from the receivers


Detect and avoid objects (static/dynamic)


Write ultrasonic sensors drivers


Write code to calculate distance from sensor data


Mount ultrasonic sensors to chassis


Write code to handle obstacles


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Bradley University
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PROJECT OBJECTIVES


Track vehicle


Software defined PWM signal


Mount digital compass


Utilize compass information


Safety shutoff switch and bump sensors


Mount shutoff switch


Mount bump sensors


Tie all switches to a high priority external
interrupt



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Bradley University
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PROJECT OBJECTIVES


Design a lawnmower navigation system


Intelligent algorithms to optimize mowing


Calibrate sensors for optimal performance


Ultrasonic sensor


Digital Compass


Utilize sensor input to know direction and
orientation


Utilize senor input to avoid obstacles



9

Bradley University
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Changes in design


Removed off
-
board computer


Simplified Design


Redesigned RF receiver


No negative supply on a battery


Compensation for lack of amplifier


Redesigned Motor Controller


No microcontroller generated PWM


Voltage Controlled PWM via hardware


No feedback from rotary encoder


Utilizes D/A converter on microcontroller


10

Bradley University
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Hardware


Completed


Voltage controlled PWM generator


H
-
bridge setup


All parts received


RF circuits


Needs Work


Ultrasonic sensor mounts


Mount parts on chassis


Ultrasonic sensors


Digital compass


Bump sensors


RF receivers



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Bradley University
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Voltage Controlled PWM


Saw tooth Wave


DC Voltage


Comparator


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Bradley University
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EMAC Wiring Diagram


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Bradley University
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Software


User interface


Compass PWM


U.S. Sensor PWM using software counter


RF sensor


Motor control


Navigation and safety control


Boundary following


Object avoidance


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Bradley University
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Software


Completed


Ultrasonic Sensor Read Function


Base Code


Timing Functions


Needs Work


Compass Read Function


RF Sensor Read Function


Control Algorithm


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Bradley University
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Original Semester Timeline


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Bradley University
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New Semester Timeline


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Bradley University
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Questions?



NO?....





GOOD