MIR – Mobile Intelligence Robot

By Jason Abbett and Devon Berry

Project Introduction

• Build and program a robot– Competition Requirements

•Size & Weight•Safety•Autonomous

– Competition Goals•Accuracy

– Successful Task Completion– Avoid Penalties

•Speed

Competition Task Specifics

• Four Cans– One Can per

Incoming Room– Different

Colored Cans– Different Colors

to Different Rooms

Competition Specifics

• Virtual Walls & Ceiling

• Best of Two Rounds– Fastest Six

Teams to Final– Three Workers

with Colored Coveralls

Team Organization

• CS Team– Jason Abbett– Devon Berry

• ECE Team– Michael Hall– Jeff Croxell– Eddie Inlow

Hardware Design

• Outputs– Four Motors– Five Servos

• Inputs– Three Light Sensors– Three Sonar Sensors– Two Optical Mice– One CMU Camera

Initial Plan

• Use Line Following– Light Sensors (Adjust

Motors)– Mouse & Compass (Backup)

• Use Vision for Rooms– CMU Camera (ID & Center)– Sonar (Grab)

Actual Implementation

• Use Line Following Straight– Light Sensors (Adjust Motors)– Mouse (Trigger)

• Use Navigation System Turning– Mouse (Distance)– Control System (Motor PID Control)

• Use Sound for Rooms– Sonar (Center & Grab)– CMU Camera (ID)

Software Design

• Main Module– Sensor Fusion

• High Level Modules– Control System– Navigation System– Arm States– Grab Can

• Low Level Modules– Input Interfaces– Output Interfaces

Structure Diagram

Motors

Servos

Sonar Sensor

s

Light Sensor

s

Optical

Mice

CMU Camer

a

Control Syste

m

Navigation System

Sensor Fusion

Grab Can

Arm State

s

Low Leve

l

High Leve

l

Main Functio

n

Legend

Output

Track Testing

• Half of total project time• Several runs on track

after each new code implementation

Integration Testing

• Integrate module into main function

• Do track test again

Project Timeline

Day Before Competition

• Practice board in hotel– Sign up for 30 minute slot– Completed course twice– Only three teams

completed track

Competition

• Each team had two runs on the track

• After first run – One 20 sec penalty for not

attempting to grab one of the cans– Placed 2nd out of 37

2nd Run

• Exceeded time limit• Obtained one penalty

– Did not attempt to pick up one can (20sec)

• Placed 9th out of 37

Afterthoughts

• Claw worked great but was too much for this particular competition

• More light sensors• Smaller platform and wheels

Demo

Questions