Cueillir

1
Cueillir

• Kurt Rooks
• NSF REU
• University of Florida
• Machine Intelligence Lab
• Dr. A. A. Arroyo Dr. Eric Schwartz

2
Overview

• Overall Purpose
• Chassis Design
• Sensors
• Integrated System
• Behaviors
• Conclusions
• Questions

3
Overall Purpose

• Original Purpose To create a robot capable of
  retrieving keys attached to an ultrasonic
  transmitter.
• 12 Weeks Later Purpose To create a robot
  capable of finding and gathering an ultrasonic
  transmitter.

4
Chassis Design

• Easy to build and maintain
• -Modular electronics tray
• -Simple part shapes
• Able to turn in place
• -2WD skid steer, able to turn in place
• -4 Casters, one on each corner
• Able to locate and collect transmitter
• -Servo actuated magnetic arm
• -Transducers mounted front and low
• -Forward facing sonar

5
Chassis Design

• AutoDesk Inventor

6
Chassis Design

7
Sensors

• SRF 05 Ultrasonic Range Finder
• Ultrasonic Transmitter/Receiver
• -Custom PCB

8
Sensors
9
Sensors
10
Sensors

11
Sensors
12
Sensors

• Original Sensor Usage Time of Arrival
  triangulation to determine exact relative
  position.
• 12 Weeks Later Usage Check whether or not each
  transducer is receiving the signal, then
  determine a heading.

13
Integrated System

14
Behaviors

• Search for Transmitter
• -Rotate in place for 5 seconds
• -Wander for 5 seconds
• Travel towards Transmitter
• -Straight if all 3 transducers are receiving
• -Turn left if right transmitter is NOT receiving
• -Turn right if left transmitter is NOT receiving
• Pick up Transmitter
• -Deploys arm and magnetic gripper

15
Conclusions

• The Good
• -Basic Obstacle Avoidance
• -Able to find beacon within 1 meter
• -Able to collect transmitter
• The Bad
• -Single Forward Mounted Sonar has a blind spot
  when approaching an obstacle at 45 degrees
• -Four corner mounted casters does not work well
  on uneven ground, wheels spin (2 removed)
• -Data from ultrasonic receiver not consistent
  enough to perform TOA calculations.

16
Questions?