National Instruments Autonomous Robotics Competition
National Instruments Autonomous Robotics CompetitionJoshua
PetrohilosSupervisor: Nasser Asgari
About meBachelor of Engineering (Robotics)/Master of Engineering
(Electronics)My role: Electrical DesignDesign RequirementsUsing
MyRIOQuick movementAccurate movementObject DetectionStable arm
movementStrong block gripperVoltage RegulationPower/Cutoff
SwitchesNeat and easy to follow wiringMyRIOMain ProcessorRequires
12VProvides several inputs and outputsUses LabView programming
environment
Quick movement: MotorsPolulu 12V DC MotorGear motor (43.7:1
ratio)251 rpm1.5 kg*cm torquePowerful enough to move quicklyComes
with encoders for movement tracking
Accurate movement: Motor ControllersSabertooth dual 5A Motor
DriverReceives information from MyRIOWhen tested, found to be
reasonably accurate
Accurate Movement: KangarooAdds feedback control to
SabertoothsConfusing to calibrate and tuneFound to be more useful
for a motor running at a constant speedLeft unused
Accurate movement: Laser Mouse SensorADNS-9800Laser gaming mouse
sensorDifficult to work withUltimately redundantWent unused
Object Detection: LidarLidar: Light Detection and RangingHokuyo
URG-04LX-UG01240 viewing angleApproximately 5.6m distance0.352 per
scanCan be powered by USB
Stable Arm movement: ServosMetal Gear ServosStrong Enough to
stabilise and lift armRequired 6V to operate correctly
Strong Block Gripper: Servos Regular plastic servosStrength not
as necessary as Arm servosUsed 6V out of simplicityHS-311 and
HS-422
Servo Code
Voltage RegulationOnly servos and lidar require less than
12VMyRIO has voltage regulation (5V and 3.3V)Servos did not work
with MyRIO regulationUsed an adjustable step-down regulator
Power/Cutoff SwitchesOne switch for power, one for motor
cutoffPush button for various functions
Wiring OptionsOption A) Basic wiringOption B) PCB + Basic
WiringOption C) Veroboard + Basic Wiring
Wiring OptionsOption C) Was chosenStill unsure of parts
requiredAllowed easier changesStill the same amount of wiring with
PCBAllows easy Voltage Regulation and groundingWiring Schematic
MyRIO wiring list
Component PlacementBattery tucked behind LidarSecure due to
designStarting point for voltage regulation
Component PlacementVoltage Regulation needs to occur close to
BatteryPieces of Veroboard for voltage regulation and
groundingMounted on Roof
Component PlacementBattery power goes through power switch
before going to fuse through outputAfter fuse, goes to MyRIO and
Cutoff switchCutoff switch output then travels to Voltage
Regulator
Component PlacementSabertooths are mounted at the back
Component PlacementMyRIO mounted on topWires housed together
where possibleWires labelled for easy removal
Areas of ImprovementMouse SensorDesign and create PCBCircuit
improvementsCompetition
Competition IssuesBumpy floorsLidar possibly too lowOne course
was incorrect sizeChanges were made to the program during practice
to account for these issues
Competition ResultsMissed out on Top 8Happy with how the Robot
performedFirst place: UniSA
Run Example
Thanks for listening!Any questions?
