A.G.I.L.E

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A.G.I.L.E
Autonomously Guided Intelligent Lawn Equipment

• Team Members
• Brad Ramsey
• Derek Rodriguez
• Dane Wielgopolan
• Project Managers
• Dr. Joel Schipper
• Dr. James Irwin

ECE Department
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A.G.I.L.E
Autonomously Guided Intelligent Lawn Equipment

• Team Members
• Brad Ramsey
• Derek Rodriguez
• Dane Wielgopolan
• Project Managers
• Dr. Joel Schipper
• Dr. James Irwin

ECE Department
3
PRESENTATION OUTLINE

• PROJECT SUMMARY
• PROJECT OBJECTIVES
• DESIGN CHANGES
• ADDED/REMOVED FEATURES
• HARDWARE OVERVIEW
• SOFTWARE OVERVIEW
• SEMESTER TIME LINE
• ORIGINAL
• UPDATED

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Project Summary

• The goal of the project is to create a proof of
  concept autonomous lawnmower.
• The lawnmower will stay in a defined area and
  avoid obstacles while efficiently mowing.

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PROJECT OBJECTIVES

• Vehicle Movement
• Detect the field boundaries using RF
• Track vehicles orientation
• Detect and avoid objects
• Safety shutoff switch and bump sensors
• Design a lawnmower navigation algorithm

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PROJECT OBJECTIVES

• Vehicle Movement
• Get chassis, battery, and motors
• Create PWM signal using hardware
• Use H-Bridge to drive motor from PWM
• Detect the field boundaries using RF
• Set up transmitting test area
• Design and implement two single supply band pass
  RF receivers
• Test receivers in test area and record data
• Use ADC to collect data from the receivers
• Detect and avoid objects (static/dynamic)
• Write ultrasonic sensors drivers
• Write code to calculate distance from sensor data
• Mount ultrasonic sensors to chassis
• Write code to handle obstacles

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PROJECT OBJECTIVES

• Track vehicle
• Software defined PWM signal
• Mount digital compass
• Utilize compass information
• Safety shutoff switch and bump sensors
• Mount shutoff switch
• Mount bump sensors
• Tie all switches to a high priority external
  interrupt

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PROJECT OBJECTIVES

• Design a lawnmower navigation system
• Intelligent algorithms to optimize mowing
• Calibrate sensors for optimal performance
• Ultrasonic sensor
• Digital Compass
• Utilize sensor input to know direction and
  orientation
• Utilize senor input to avoid obstacles

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Changes in design

• Removed off-board computer
• Simplified Design
• Redesigned RF receiver
• No negative supply on a battery
• Compensation for lack of amplifier
• Redesigned Motor Controller
• No microcontroller generated PWM
• Voltage Controlled PWM via hardware
• No feedback from rotary encoder
• Utilizes D/A converter on microcontroller

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Hardware

• Completed
• Voltage controlled PWM generator
• H-bridge setup
• All parts received
• RF circuits
• Needs Work
• Ultrasonic sensor mounts
• Mount parts on chassis
• Ultrasonic sensors
• Digital compass
• Bump sensors
• RF receivers

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Voltage Controlled PWM

• Saw tooth Wave
• DC Voltage
• Comparator

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EMAC Wiring Diagram
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Software

• User interface
• Compass PWM
• U.S. Sensor PWM using software counter
• RF sensor
• Motor control
• Navigation and safety control
• Boundary following
• Object avoidance

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Software

• Completed
• Ultrasonic Sensor Read Function
• Base Code
• Timing Functions
• Needs Work
• Compass Read Function
• RF Sensor Read Function
• Control Algorithm

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Original Semester Timeline
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New Semester Timeline
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Questions?

• NO?....
• GOOD