Robotic Navigation Distance Control Platform

1
Robotic Navigation Distance Control Platform

• By
• Scott Sendra
• Advisors
• Dr. Donald R. Schertz
• Dr. Aleksander Malinowski
• December 9, 2003

2
Overview

• Objective
• Functional Description
• System Block Diagrams
• Preliminary Lab Work
• Equipment/Part List
• Schedule of Tasks

3
Objective

• Design and Build a Robotic Platform
• Maintain a fixed safety distance
• Fixed steering
• If time Permits
• Steering Control
• Maintain specified safety time distance

4
Functional Description

• Modes of Operation
• System I/O
• System Diagrams

5
Modes of Operation

• Fixed Navigation Mode
• User enters User or Auto Out of Range Modes
• User enters fixed safety distance in feet
• User presses activation button
• Time Navigation Mode
• User enters safety time in seconds

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Modes of Operation

• User Out of Range Mode
• Followed object is out of range
• Robotic platform stops
• Out of Range displayed on LCD
• User reactivates navigation controls
• Clears LCD display
• Auto Out of Range Mode
• EMAC reactivates navigation controls when object
  detected

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Modes of Operation

• Stop/Start Mode
• User is able to start/stop navigation mode
  manually

8
System Inputs to EMAC

• User Input
• Keypad
• Sensors Input
• Photoelectric or ultrasonic sensors
• 1 sensor for distance control
• 2 sensors for steering control

9
System Outputs from EMAC

• LCD Display
• Current mode of operation
• User required input information
• Robotic Platform Motor
• Robotic Platform Steering

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System Sensor Diagram
Robotic Platform (R/C Car)
Moving Object (Similar size to robotic
platform)
Left Sensor
Distance Sensor
Right Sensor
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Block Diagram

• Hardware
• Subsystem Function
• I/O of Subsystem
• Software
• Modes of Operation Flowcharts

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Sensor Subsystem

• Photoelectric or Ultrasonic Pulse Sensor
• Sensor Output Signals
• Output signal related to distance
• Analog, digital or PWM

13
Electric Motor Subsystem

• Input signal
• PWM signal from 0.6 ms to 2.0 ms positive pulse
  width at 50 Hz
• Output speed
• Motors shaft speed varies
• Full forward speed with 2.0 ms pulse width
• Stop with 0.6 ms pulse width

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Steering Subsystem

• Input signal
• PWM signal from 1.1 ms to 1.9 ms positive pulse
  width at 50 Hz with 1.5 ms as neutral
• Output
• Rotational servo horn to translational movement
  of steering rod

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Hardware Subsystem Block Diagram
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Main Software Flowchart
EMAC Initialization
LCD Initialization
Keypad Initialization
Display Prompt Fixed/Time Navigation Mode
Keypad User Enters Navigation Mode
Keypad User enters fixed distance or safety time
Display Prompt User/Auto Out of Range Mode
Keypad User Enters Out of Range Mode
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Main Software Flowchart
Keypad Activation Button
Check if signal from sensor
No
Enter User/Auto Out of Range Mode
Yes
Steering Control
Time Navigation Mode entered
Fixed Navigation Mode entered
Check navigation mode entered
Fixed Distance Control
Safety Time Control
18
User/Auto Flowchart
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Start/Stop Flowchart
Keypad User Presses Stop Button
Keypad User Presses Start Button
Stop Electric Motor
Call Fixed/Time Navigation Mode
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Preliminary Lab Work

• Full understand of servo input signals required
  with 1.5 ms at 50 Hz being neutral
• Rooster ESC reprogrammed
• Normally 0.85 ms full reverse
• 1.85 ms full forward
• Reprogrammed 0.60 ms stop
• 2.0 ms full forward

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Equipment and Parts List

• Hitec HS-303 Servo
• Kyosho Hoppin Mad RTR R/C Car
• Team Novak Rooster electronic speed controller
• HP 8011A Pulse Generator
• Photoelectric or ultrasonic pulse sensors
• Onboard 80515 EMAC Microcontroller

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Schedule of Tasks

• 12/22 1/27 Determine sensors
• 1/28 2/03 Motor and servo subsystem coding,
  debugging and testing
• 2/04 2/10 Stop/Start Mode software coding,
  debugging and testing
• 2/11 2/17
• 2/18 2/24 User input software code, debugging
  and testing
• 2/25 3/02
• 3/03 3/09 Sensor characteristic and output
  signals
• 3/10 3/16 Hardware interfacing and installation
• 3/17 3/23
• 3/24 3/30
• 3/31 4/06
• 4/07 4/13
• 4/14 4/20
• 4/21 4/27
• 4/28 5/04 Finish project, presentation, project
  report

Fixed navigation mode software code, debugging
and testing
User/Auto Out of Range mode software code,
debugging and testing
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QUESTIONS?