autonomous tracking vehicle (atv)
DESCRIPTION
Autonomous Tracking Vehicle (ATV). Team RC Bobby Labonte Dale Earnhardt Rusty Wallace Jeff Gordon. Project Description. Problem: To design a mobile robot that locates and follows a designated target Self-contained vehicle, controlled by Motorola 68HC11 microprocessor - PowerPoint PPT PresentationTRANSCRIPT
Project Description
Problem: To design a mobile robot that
locates and follows a designated target– Self-contained vehicle, controlled by Motorola
68HC11 microprocessor– Uses sensors to track target– Software acts in real-time
Technical Specifications
• ATV is self-contained and runs on an internal power supply
• Sensors will detect target up to 10 feet away
• ATV maintains a distance of approximately 36”- 48” from target
• Takes measures to avoid collisions
System Block Diagram
Finger BoardExpansion Board
SensorsDC Motors (RC Car)
Interactive C programming environment
Controller Software
Header Connectors
Analog/ Digital Inputs
Motor Controllers
Communications Link to PC
Overall System Block Diagram
HardwareSolution
• Expansion Board– Digital/Analog Ports– Sonar Interface– Motor Drivers– IR Transmitters and Receivers
Expansion Board Layout
6 Digital Ports
8 Analog Ports
Sonar Connection
Servo Motor Output
Main Motor Output
Motor Driver Chips
Sonar/Motor Power
Connection
2 Digital Switches
Finger Board Interface
Expansion Board Layout
6 Digital Ports
8 Analog Ports
Sonar Connection Servo Motor
Output
Main Motor Output
Motor Driver Chips
Sonar/Motor Power Connection
2 Digital Switches
Finger Board (Motorola 68HC11)
Software Solution
Flow of sensor inputs to actuator outputs
Decomposition of behaviors in the ATV
IR
Motor Outputs
ArbiterSpeed Management Behavior
Regulator
IR Tracking Behavior
Sonar
Test Plan
• Power up vehicle and initialize tracking program.
• Move target laterally and verify IR tracks beacon.
• Adjust target distance and verify that sonar maintains desired gap.
• Combine the above procedures to test proper tracking.
Budget
• Estimated cost of labor: $17,130
• Total cost of parts: $690.53
• Estimated Cost of Project: $17,820
Project/Management Analysis
• What we would do different:– More sensor research and experimentation– More thorough PCB layout verification