AUTONOMOUS RESCUE VEHICLE(TEAM 10)

Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin

PROJECT OVERVIEW

Our team’s goal is to build a prototype of a robot that can: Use GPS to locate a lost person Autonomously navigate towards the person Lead him or her back to a safe location, which is

the starting location of the robot

PSSCS An ability to move and steer using

appropriate motors and drive systems An ability to transmit GPS coordinates from

the rescue-point transceiver to the robot via an RF module

An ability to receive and process GPS coordinates on the robot and move toward the given coordinates

An ability to detect obstacles and navigate around them using ultrasonic sensors.

An ability to monitor the battery level of the robot

BLOCK DIAGRAM

BLOCK DIAGRAM (CONTINUED)

+3.3 VPower

Supply Module Microcontroller

RF Transmitter

Module (Xbee Pro)

GPS ModuleUART (9

bit)

PWR _CTR

Rescue-Point Transceiver

COMPONENT SELECTION

COMPONENT SELECTION (CONTINUED) Microcontroller

2 PWM 2 UART Minimum 4 ATD Minimum 14 digital I/O pins Fast to handle data input (At least 32-bit

preferably, with CPU at least 50MHz) 3.3 V operating voltage

Final choice: PIC32MX120F032B for Robot and for the rescue point transceiver.

COMPONENT SELECTION (CONTINUED) Motors

Enough torque to handle rugged terrain Steady state current relatively low to reduce power Built-in gear box to simplify design Chose: Dagu 25D Motor with 34:1 Gearbox

GPS receiver Accurate locating capability Relatively inexpensive Communicate through UART Chose: ADH Technology - GPS-11571

RF module Long range communication (6 miles) Conform to FCC requirements Chose: Digi International Inc - XBP09-DPSIT-156

COMPONENT SELECTION (CONTINUED) Ultrasonic Sensors:

Easy to use ATD High Resolution Cost-effective Chose: Maxbotix LV-EZ4

H Bridge Delivers up to 5 A continuous Low turn-on resistance Built-in circuit protection Chose: TLE5206

PACKAGING Constraints

Traverse rugged terrain Lightweight and Sturdy Room for PCB and off chip peripherals Minimize cost Looks cool

PACKAGING (CONTINUED)

Batteries

PCB

Ultrasonic

Sensors

GPS

PACKAGING (CONTINUED)Rescue-Point Transceiver

SCHEMATICS (ROBOT)

SCHEMATICS (ROBOT)

SCHEMATICS (ROBOT)

SCHEMATICS (ROBOT)

SCHEMATICS (ROBOT)

SCHEMATICS (ROBOT)

SCHEMATICS (ROBOT)

SCHEMATICS (TRANSCEIVER)

SCHEMATICS (TRANSCEIVER)

PCB LAYOUT (ROBOT)

PCB LAYOUT (TRANSCEIVER)

PCB LAYOUT (MICROCONTROLLER)

Robot Transceiver

PCB LAYOUT (TRANSCEIVER POWER SUPPLY)

3.3 Volt Ground

PCB LAYOUT (ROBOT POWER SUPPLY)3.3 Volt

PCB LAYOUT (ROBOT POWER SUPPLY)-3.3V

PCB LAYOUT (ROBOT POWER SUPPLY)Digital Ground

PCB LAYOUT (ROBOT POWER SUPPLY)7.2Volt

PCB LAYOUT (ROBOT POWER SUPPLY)Motor Ground

PRELIMINARY SOFTWARE DESIGN

Completed testing: Can transmit and receive with UART ATD PWM – Motor control Timing modules and interrupts

Future design: Motor control Navigation algorithm – ultrasonic sensors Process GPS data Transmit and receive with RF module

TIMELINETimeline 8 9 Spring Break 10 11 12 13 14 15Week 1-Mar 8-Mar 15-Mar 22-Mar 29-Mar 5-Apr 12-Apr 19-Apr 26-AprSoftware (Basic subroutines)

Ultrasonic RF Module GPS Motor Control IR

Software (Debugging with hardware) Debugging Navigation Debugging GPS and RF communication

Hardware Proof Final PCB Motor Testing PCB Population & Testing

Final packaging Prepare for Final Design Presentation