Project ObjectiveThe goal of this project is to create a solar-powered autonomous robot capable of continuous operation under adequate light conditions. The system is based around a low power 8051 microcontroller. The microcontroller provides the modes of operation that the robot uses to interact with its environment. These modes are influenced by input from several sensors mounted on the robot. Power On

Random Walk

Search For Light(Forage Mode)

Transmission Mode

Light Not Found Return to Sleep

Is Light Found?

If light Level

Resumes

Light Level Drops

Yes

Yes

Tracking Mode

No

IR Received

Able to Converge?

Yes

No

No

Martian Bug

SwitchMotion

Status LED

IR Transmitter

Light Sensor

Collision Sensor

IR Receiver

Microcontroller

Photo Cells

IR Tranciever

Light Sensor

Battery

Collision Sensor

LED Status

Motor

User Input

Bradley UniversityDepartment of Electrical and computer Engineering

Adam Jackson & Matt TravisAdvised By:

Dr. Huggins & Dr. Malinowski

IC 2 C 2 IC

3C 3

C 4

C1 IC1

IC 4

IC 5

C 5

IC1 - Light SensorIC2 - Voltage Regulator IC3 - H BridgeIC4 - Voltage RegulatorIC5 - A/D converter

C1 - Voltage ClampC2 - Regulator Components C3 - H Bridge ComponentsC4 - Battery ChargerC5 - Regulator Components

Ground

Voltage Rail

Power Jumper

A/D Communication

Motor Communication

Battery Connection

Solar Connection

Contact Switch Connection

Overall Block Diagram

Board Layout

Robot Platform

Software Flow Chart

Hardware Flow Chart

Solar Array