Autonomous Sensor and Autonomous Sensor and Control Platform RoverControl Platform Rover

• Tae Lee

• Josh Reitsema

• Scott Zhong

• Mike Chao

• Mark Winter

Brief DescriptionBrief Description

• An easily extensible autonomous rover platform.

• Initially equipped with SONAR, IR, and bumper sensors.

• A camera for remote viewing and control.

• Functionally extendable control program makes the rover extremely versatile.

GoalsGoals

• Central processing and control circuitry.

• Control for devices: Motors, SONAR, IR, and bumpers.

• Communication with a computer via serial or possibly WIFI for programming and remote control.

• Camera mounted on rotating platform, to provide computer controllers with a video display

ExtensionsExtensions

• WIFI communication with computer.

• DSP for video to heighten the rover’s “senses”

Cost and ReturnsCost and Returns

• Initial costs are low because of the availability of a basic rover platform for prototyping, equipped with motors and sensors.

• Given the high versatility of the Autonomous Sensor and Control(ASAC) platform, we can expect high demand from companies requiring an autonomous unit for sensor data collection in inaccessible areas.

Outline of ApproachOutline of ApproachAutonomous Control

Behavior Software Communication Software

Sensor Drivers and Hardware Communication Hardware

Low Level Control Hardware

Needed Hardware Needed Hardware SubsystemsSubsystems

• Main Controller Board• Sensor Interface

Hardware• Motor Controller

Hardware • Communication to

Human Interface Robotic Movement

Sensor Inputs

User Control

Main Board

Main Controller BoardMain Controller Board

• Based on 2120 board

• Motorola 68HC11 processor, Xlinix logic chip, multiple I/O buslines for input to sensors and output to motors

• Needs to be programmable in C, C compilier

Other Hardware SystemsOther Hardware Systems

• Each sensor, video, IR, wheel encoders, etc., needs to be interfaced into the main controller board

• Communication will be wi-fi and direct connect

• The motors must be set precisely with correct current and voltage

Software SubsystemsSoftware Subsystems• Drivers for hardware

will be written in Assembly

• High level control, i.e. decisions and behavior, will be written in C

• Control will be accessed through a graphical user interface

Implementation of Various Implementation of Various SubsystemsSubsystems

• Chassis

• Mainboard

• Power

• Communications

• Sensors

ChassisChassis

• Provided with a stripped down vehicle– Frame– 2 X 12V stepper motors

• Controlled using a Generic H-Bridge.

– Sonar sockets placed around the cart• Possibly implement if time permits.

MainboardMainboard

• Using a 68HC11 to process commands• FPGA

– Will handle expanded IO to sensors.– Will execute movement commands.

PowerPower

• Regulators will provide 3 different voltages.

• 12V– Motors

• 5V– Motorola 68HC11– Xilinx FPGA

• 3.3V – Communication Module

CommunicationCommunication

• Programming handled through a serial cable• Integrate a WiFi module

– Lantronix WiPort.

• Otherwise fall back to RC or wired communication.

SensorsSensors

• Camera will feed data to a monitor– Time permitting data will be transmitted over

wireless interface.– Otherwise it will have its own independent

transmission (baby monitor).

• Hopeful expansion– Integrate existing sonar ports.

Division of labor and Division of labor and responsibilitiesresponsibilities

Scott– Main board and processor– Specification of interface between each different

module (WiFi, Sonar, etc)

Tae- Main board and processor- Manual editor- Ultrasonic Sensors

Division of labor and Division of labor and responsibilitiesresponsibilities

Mike– WiFi Interface– Control of Rover– Sensor Data

Josh– Video Camera Interface and Control– Movement Circuit– Ultrasonic Sensors– High Level Control Software

Division of labor and Division of labor and responsibilitiesresponsibilities

Mark– Test and Document Current Hardware– Drivers– Data Processing Algorithms– Video Interface

Division of labor and Division of labor and responsibilitiesresponsibilities

Everyone – Documentation– User manual– Tech Support– Trips to get food

ConsiderationsConsiderations• Project to Complex?

• Too many peripheral sensors• Do we have enough time to do all this• Is there enough processing power

• PCB• Eliminate Noise• Wire wrap problems go away

• Ultrasonic Sensors• How many do we need for accuracy• How are we going to connect them

• Video Feed• Stand alone unit with no integration

• Wi-fi using serial• Is it fast enough

RisksRisks• Do we have what it takes

• Knowledge of components• Can we learn really, really fast?

• Unexpected Complexities• Bad parts, “what's that smell” during testing• How long to fix the unexpected?

• Complications during integration of modules

• Use of old motors

Contingency PlanContingency Plan

• Make sensor sub-systems very modular

• Leave out the flash until the end• Make sure the basics work first

• Wired communications • Back up for wi-fi

• Order extras if we can

• Replace old motors with newer model• Data sheets, Support

ThanksThanks

• Questions?