Transcript Robotic Navigation Distance Control Platform By: Scott Sendra

Robotic Navigation Distance
Control Platform
By:
Scott Sendra
Advisors:
Dr. Donald R. Schertz
Dr. Aleksander Malinowski
December 9, 2003
Overview
Objective
 Functional Description
 System Block Diagrams
 Preliminary Lab Work
 Equipment/Part List
 Schedule of Tasks

Objective
Design and Build a Robotic Platform

•
•
Maintain a fixed safety distance
Fixed steering
If time Permits

•
•
Steering Control
Maintain specified safety time distance
Functional Description
Modes of Operation
 System I/O
 System Diagrams

Modes of Operation
Fixed Navigation Mode
• User enters User or Auto Out of Range Modes
• User enters fixed safety distance in feet
• User presses activation button
Time Navigation Mode
• User enters safety time in seconds
Modes of Operation
User Out of Range Mode
•
•
•
•
•
Followed object is out of range
Robotic platform stops
“Out of Range” displayed on LCD
User reactivates navigation controls
Clears LCD display
Auto Out of Range Mode
• EMAC reactivates navigation controls when object
detected
Modes of Operation
Stop/Start Mode
• User is able to start/stop navigation mode manually
System Inputs to EMAC
User Input

Left
Navigation
Sensor
Keypad
(User Input)
Keypad
Distance
Control
Sensor
Robotic
Platfor
m
Motor
EMAC
Microcontroller
Sensors Input

Photoelectric or
ultrasonic sensors
•
•
1 sensor for distance
control
2 sensors for steering
control
Right
Navigation
Sensor
LCD
Display
Robotic
Platfor
m
Steering
System Outputs from EMAC

LCD Display
• Current mode of
operation
• User required input
information


Robotic Platform
Motor
Robotic Platform
Steering
Left
Navigation
Sensor
Distance
Control
Sensor
Right
Navigation
Sensor
Keypad
(User Input)
Robotic
Platfor
m
Motor
EMAC
Microcontroller
LCD
Display
Robotic
Platfor
m
Steering
System Sensor Diagram
Robotic Platform
(R/C Car)
Distance
Sensor
Moving Object
(Similar size to robotic platform)
Block Diagram
Hardware
• Subsystem Function
• I/O of Subsystem
Software
• Modes of Operation Flowcharts
Sensor Subsystem

Photoelectric or Ultrasonic Pulse Sensor

Sensor Output Signals
• Output signal related to distance
• Analog, digital or PWM
Electric Motor Subsystem
Input signal
• PWM signal from 0.6 ms to 2.0 ms positive
pulse width at 50 Hz
Output speed
• Motor’s shaft speed varies
• Full forward speed with 2.0 ms pulse width
• Stop with 0.6 ms pulse width
Steering Subsystem
Input signal
• PWM signal from 1.1
ms to 1.9 ms positive
pulse width at 50 Hz
with 1.5 ms as neutral
Output
• Rotational servo horn
to translational
movement of steering
rod
Hardware Subsystem Block
Diagram
Photoelectric or
Ultrasonic Pulse
Left
Navigation
Sensor
Subsystem
Analog or
Digital or
PWM Signal
PWM Signal
Robotic
Platform
Motor
Subsyste
m
Power to
Drive Wheels
on R/C Car
EMAC
Microcontroller
Photoelectric or
Ultrasonic Pulse
Distance
Control
Sensor
Subsystem
Analog or
Digital or
PWM Signal
PWM Signal
Photoelectric or
Ultrasonic Pulse
Right
Navigation
Sensor
Subsystem
Analog or
Digital or
PWM Signal
Robotic
Platform
Steering
Subsystem
Translates
Steering Rod
Main Software Flowchart
EMAC
Initialization
LCD
Initialization
Display Prompt:
Fixed/Time Navigation Mode
Keypad:
User Enters Navigation Mode
Keypad:
User enters fixed distance or
safety time
Display Prompt:
User/Auto Out of Range Mode
Keypad:
User Enters Out of Range Mode
Keypad
Initialization
Main Software Flowchart
Keypad:
Activation Button
Check if
signal
from
sensor
No
Enter User/Auto Out of Range Mode
Yes
Steering Control
Fixed Navigation
Mode entered
Fixed Distance Control
Check
navigation
mode entered
Time Navigation
Mode entered
Safety Time Control
User/Auto Flowchart
User/Auto Out of Range Mode
Display:
User/Auto Out of Range Mode
Stop Electric Motor
User Out of Range Mode
Auto Out of Range Mode
Auto:
Wait:
User Reactive Navigation Controls
Wait until object is detected
Display:
Clear display
Call Fixed/Time Navigation Mode
Start/Stop Flowchart
Keypad:
User Presses Stop Button
Stop Electric Motor
Keypad:
User Presses Start Button
Call Fixed/Time Navigation Mode
Preliminary Lab Work
Full understand of servo input signals
required with 1.5 ms at 50 Hz being neutral
 Rooster ESC reprogrammed
 Normally:
0.85 ms full reverse
1.85 ms full forward
 Reprogrammed :
0.60 ms stop
2.0 ms full forward

Equipment and Parts List
Hitec HS-303 Servo
 Kyosho Hoppin Mad RTR R/C Car
 Team Novak Rooster electronic speed
controller
 HP 8011A Pulse Generator
 Photoelectric or ultrasonic pulse sensors
 Onboard 80515 EMAC Microcontroller

Schedule of Tasks
12/22 – 1/27
1/28 – 2/03
2/04 – 2/10
2/11 – 2/17
2/18 – 2/24
2/25 – 3/02
3/03 – 3/09
3/10 – 3/16
3/17 – 3/23
3/24 – 3/30
3/31 – 4/06
4/07 – 4/13
4/14 – 4/20
4/21 – 4/27
4/28 – 5/04
Determine sensors
Motor and servo subsystem coding, debugging and testing
Stop/Start Mode software coding, debugging and testing
User input software code, debugging and testing
Sensor characteristic and output signals
Hardware interfacing and installation
Fixed navigation mode software code, debugging and testing
User/Auto Out of Range mode software code, debugging and testing
Finish project, presentation, project report
QUESTIONS
?