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Autonomous Robot

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Design and Implement an Autonomous Robot capable of performing a specified task. Autonomous ... FM RRF1-433-C. 9.6Kbps data rate. Remote power. Power supply on ... – PowerPoint PPT presentation

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Title: Autonomous Robot


1
Autonomous Robot
  • EE 496
  • Fall 2004
  • John Budinger
  • Francisco Otibar

2
Topics of Discussion
  • Autonomous Robot
  • Sensors
  • Artificial Intelligence
  • Robot
  • Communications
  • Conclusion
  • Questions and Answers

3
Autonomous Robot
  • Design and Implement an Autonomous Robot capable
    of performing a specified task
  • Autonomous
  • To govern and act independently
  • Robot
  • System of hardware and software
  • Soccer
  • Medium to exhibit robots capabilities

4
Autonomous Robot
  • Motivation
  • Utilize current engineering skills
  • Learn new concepts
  • Explored by other institutions
  • Interesting and fun

5
Autonomous Robot
  • Robot
  • Markers
  • Ball
  • Field and Boundaries
  • Rules of Play
  • Objects identified by color

6
Autonomous Robot
  • Overhead Camera Setup
  • Global vision
  • Central computer
  • Information processing
  • System control
  • Inspired and adapted from RoboCup small-sized
    league competitions.

7
Autonomous Robot
8
Autonomous Robot
  • Modular Design
  • Simplify project
  • Relatively easy debugging
  • Possible upgrade and/or interchange
  • Design Considerations
  • Functionality

9
Autonomous Robot
10
Autonomous Robot
Sensors
AI
Robot
Comm
11
Autonomous Robot
Sensors
Artificial Intelligence
Robot
12
Autonomous Robot
Sensors
Artificial Intelligence
Robot
Communications
13
Autonomous Robot
Sensors
Artificial Intelligence
Communications
Robot
14
Sensors
  • Data Collection
  • Provide robot with information to act upon
  • Objectives
  • Collect data quickly and accurately
  • Low cost, practical design
  • Hardware and Software
  • Camera
  • Image processing program

15
Sensors
  • Block Diagram

Sensors
Raw Image
Coordinates
16
Sensors
  • Camera
  • Logitech QuickCam Messenger
  • USB 1.1
  • 12Mbps
  • 30 frames per second (maximum)
  • 640 x 480, 320 x 240, 160 x 120 pixels
  • Logitech QuickCam Software Development Kit
  • Currently not distributed nor supported

17
Sensors
  • Image Processing Program
  • Based on Logitech QuickCam SDK
  • Only Windows 98 or Me
  • Microsoft Visual C 6.0
  • ActiveX controls
  • C, C, Visual Basic

18
Sensors
  • Image Processing
  • Capture image
  • Provided by SDK
  • Filter image
  • Homogenize
  • Segment
  • Detect objects
  • Marker
  • Pattern

19
Sensors
  • Operations
  • Determine color
  • Comparison of pixels
  • Determine size
  • Pass over template
  • All objects defined by markers

20
Sensors
  • Filter Image
  • Homogenize
  • Replace pixels with interested colors
  • Colors define in table
  • Segment
  • Create areas (blobs) of homogeneous color
  • Remove noisy pixels

21
Sensors
  • Detect Objects
  • Locate marker
  • Determine color ? affiliation
  • Team, enemy, ball
  • Determine centroid ? center of object
  • Ball marker is same size as robot marker
  • Determine position on field

22
Sensors
  • Detect Objects
  • Determine pattern
  • Similar to locate marker
  • Bounded by objects defined size
  • Only processed for team robots
  • Pattern data represents team identification
  • Robots orientation

23
Sensors
  • Problems Encountered
  • Resolution
  • Calibration
  • Lights
  • Pixel values
  • Date rate
  • Resources used

24
Artificial Intelligence
  • Robot Control
  • Determine action based on data from sensors
  • Objectives
  • Capable of showing basic functionality
  • Simple as possible
  • Software

25
Artificial Intelligence
  • Block Diagram

Artificial Intelligence
Coordinates
Commands
26
Artificial Intelligence
  • Create virtual map
  • Place objects
  • Positions and identification provided by sensors
  • Determine actions for robot
  • Pointing Man
  • Send command

27
Artificial Intelligence
  • Pointing Man
  • Distance
  • Affects robots velocity
  • Angle
  • Determines individual motor speed and direction

28
Artificial Intelligence
  • Outputting Commands
  • MS Communication Controls 6.0
  • Visual C 6.0 Visual Basic 6.0
  • Send 2 bytes of data
  • Robot identification number
  • Motor speed and direction
  • Miscellaneous action

29
Artificial Intelligence
  • Problems Encountered
  • Unfamiliar with MS Variant data type
  • Need working sensors prior to completion
  • Not enough resources and time spent on development

30
Robot
  • Execute Commands
  • Perform requested actions from AI
  • Objectives
  • Fast and powerful robot
  • Agile and precise movement
  • 18 cm diameter 30 cm height
  • Adapted from RoboCup small-size league
    competition
  • Hardware
  • Some software

31
Robot
  • Block Diagram

Robot
Commands
Actions
32
Robot
  • Sub-modules
  • Data processing
  • Motor control and motors
  • Power management
  • Chassis
  • Ball handling
  • None

33
Robot
  • Data Processing
  • PIC 16F877
  • 33 bidirectional pins
  • 4 20MHz
  • 2 PWM output
  • No onboard AI
  • Only decode commands

34
Robot
  • Motor Control
  • TC4424 MOSFET H-bridge
  • Pulse Width Modulation
  • Direction
  • Brake
  • Motors
  • 12 volt
  • 300 mA stall current
  • 3.6Kg-cm torque
  • Wheels
  • 7 cm aluminum wheels

35
Robot
  • Power Management
  • Positive 5 and 12 volt supply
  • 5 volts for control circuits
  • 12 volts for motor power
  • 2 amp maximum supply
  • Fuse installed in main line
  • Power level indicator
  • None

36
Robot
  • Chassis
  • Aluminum
  • Drilled
  • Shaped
  • Grinded
  • 2 wheels with caster
  • Side-mounted motors
  • Layered sub-modules

37
Robot
  • Assembled and Ready!

38
Robot
  • Problems Encountered
  • PCB design
  • New software
  • PCB etching
  • Trace incorrect, damaged
  • Chassis construction
  • Motor drivers

39
Communications
  • Transmit Data
  • Between central computer and robot
  • Objective
  • Send information without error
  • Minimize delay
  • Hardware and Software
  • Conversion circuits
  • Translation code
  • Wired or Wireless

40
Communications
  • Block Diagram

Communications
Commands
Commands
41
Communications
  • Hardware
  • RS232 to TTL conversion
  • -15 to 15 volts ? 5 to 0 volts
  • MAX232A
  • RS232 driver
  • 2 receivers, 2 transmitters
  • Popular selection, easy setup
  • PIC 16F627
  • Data compression (and encoding)

42
Communications
  • Wired
  • RS232 cable

43
Communications
  • Wireless
  • Transmitter
  • FM RTF3-433
  • 9.6Kbps data rate
  • Receiver
  • FM RRF1-433-C
  • 9.6Kbps data rate
  • Remote power
  • Power supply on transmitter end

44
Communications
  • Software
  • MS Communications Control 6.0
  • Visual C 6.0 or Visual Basic 6.0
  • Packet creation routine
  • Embedded in PIC
  • Proprietary protocol
  • Manchester encoding
  • 0 ? 1,0
  • 1 ? 0,1

45
Communications
  • Protocol
  • Data compression
  • 2 consecutive bytes (16-bits) into 1 12-bit
    packet
  • Error detection
  • Packet identification

46
Communications
  • Problems Encountered
  • PCB etching
  • Broken traces
  • No signal beyond 12 inches

47
Conclusion
  • Accomplishments
  • Sensors
  • AI
  • Robot
  • Communications
  • Future Considerations
  • Upgrade camera
  • Different IDE
  • Omni-directional movement
  • Antenna and signal amplifier

48
Bonus
  • Lithium Batteries
  • Capacitors
  • 5 Amps

49
Questions and Answers
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