Team RCBobby Labonte

Dale Earnhardt

Rusty Wallace

Jeff Gordon

Autonomous Tracking Vehicle(ATV)

Project Description

Problem: To design a mobile robot that

locates and follows a designated target– Self-contained vehicle, controlled by Motorola

68HC11 microprocessor– Uses sensors to track target– Software acts in real-time

Technical Specifications

• ATV is self-contained and runs on an internal power supply

• Sensors will detect target up to 10 feet away

• ATV maintains a distance of approximately 36”- 48” from target

• Takes measures to avoid collisions

System Block Diagram

Finger BoardExpansion Board

SensorsDC Motors (RC Car)

Interactive C programming environment

Controller Software

Header Connectors

Analog/ Digital Inputs

Motor Controllers

Communications Link to PC

Overall System Block Diagram

HardwareSolution

• Expansion Board– Digital/Analog Ports– Sonar Interface– Motor Drivers– IR Transmitters and Receivers

Expansion Board Layout

6 Digital Ports

8 Analog Ports

Sonar Connection

Servo Motor Output

Main Motor Output

Motor Driver Chips

Sonar/Motor Power

Connection

2 Digital Switches

Finger Board Interface

Expansion Board Layout

6 Digital Ports

8 Analog Ports

Sonar Connection Servo Motor

Output

Main Motor Output

Motor Driver Chips

Sonar/Motor Power Connection

2 Digital Switches

Finger Board (Motorola 68HC11)

Lead Car

Timer Chip

Infrared Emitters

• Infrared Beacon– Modulated at 40kHz

Sensors

Placement of Sonar and IR Receivers

Software Solution

Flow of sensor inputs to actuator outputs

Decomposition of behaviors in the ATV

IR

Motor Outputs

ArbiterSpeed Management Behavior

Regulator

IR Tracking Behavior

Sonar

Test Plan

• Power up vehicle and initialize tracking program.

• Move target laterally and verify IR tracks beacon.

• Adjust target distance and verify that sonar maintains desired gap.

• Combine the above procedures to test proper tracking.

Gantt Chart

Tracking Chart

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Week

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Estimated

Actual

Budget

• Estimated cost of labor: $17,130

• Total cost of parts: $690.53

• Estimated Cost of Project: $17,820

Project/Management Analysis

• What we would do different:– More sensor research and experimentation– More thorough PCB layout verification