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forestevanescentElectronics - Devices

Nov 2, 2013 (3 years and 11 months ago)

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The

software

for

this

autonomous

robot

was

written

in

a

C++

based

language
.

The

code

was

written

in

the

MPLAB

X

IDE
.

Various

different

voltages

were

recorded

from

light

sensors

to

determine

the

robots

next

maneuver
.


Sponsors:

National Aeronautics and Space Administration (NASA)

NASA Goddard Space Flight Center (GSFC)

NASA Goddard Institute for Space Studies (GISS)

NASA New York City Research Initiative (NYCRI)

Stevens Institute of Technology (SIT)


Contributors:

Prof. Joseph Miles

Dean Siva Thangam

Vivek Jain HSS

Tahir Omar Undergraduate


Acknowledgements

Autonomous

robots

can

perform

a

variety

of

operations

without

human

guidance

in

a

particular

environment
.

These

robots

can

evaluate

their

surroundings

and

receive

data

from

sensors

via

hardware

and

process

it

using

software
.

Autonomous

robots

are

most

prominently

used

in

factories,

industries,

space

exploration,

and

UAVs’
.

Being

one

of

the

leading

technologies

in

today’s

industry,

these

robots

can

carry

out

a

plethora

of

civilian

purposes
.



The

goal

was

to

construct

an

autonomous

robot

capable

of

detecting

various

different

lights

while

avoiding

obstacles

in

its

path

and

adapt

to

a

dynamic

environment
.

The

robot

was

then

engaged

in

a

competition

where

it

would

have

to

extinguish

the

enemy

target

lights

before

its

opponent
.

Hence,

a

system

of

light

sensors

and

bumpers

were

used

so

the

robot

may

properly

navigate

itself

through

the

arena
.




To

construct

an

autonomous

robot

in

a

given

arena


To

extinguish

enemy

target

lights

in

under

three

minutes
.


To

create

a

robot

which

can

navigate

through

a

course

with

obstacles
.



To

guide

the

robot

to

target

lights

through

photosensitive

resistors

(light

sensors)
.


To

eliminate

the

target

lights

autonomously

before

the

opposing

robot
.


To

create

software

capable

of

efficient

interaction

with

hardware

on

the

robot

to

ensure

the

robot

completes

its

objectives

as

quickly

as

possible
.



Floor

Sensor

Module

(FSM)
-

This

circuit

turns

on

a

high

current

LED
.

Reflected

light

from

the

floor

is

measured

by

a

photosensitive

resistor

being

converted

to

voltage
.

The

amount

of

light

read

by

the

photoresistor

then

determines

the

floor

color
.


Bumper

Interrupt

Support

(BIS)
-

A

circuit

designed

for

a

hardware

interrupt

in

the

event

that

a

bumper

is

hit,

and

the

switch

is

activated
.

This

allows

the

software

to

exit

the

main

loop

and

enter

the

interrupt

vector
.

It

connects

the

bumpers

with

the

PIC

board
.

Alternative Design Matrix

CAD Underside View of Robot

Specifications
:


4
’x
8


arena


Divided

into

white

and

black

territory


Obstacles

consist

of

3
’’

tall

walls

and

blockages


4

target

lights

(
2

per

territory)


1

beacon

light

located

36
’’

above

center

of

arena




Main Loop Flowchart

Interrupt Vector Flowchart

PIC Board
-


16F877A Microcontroller


A/D terminals


Channels for light sensors


Motor terminals


Battery terminals/motor & software
switches


Programmable LED’s

Top/Front/Side View of Robot