Long Range Vehicle Control (Super Tank)

Jason HolmesMatt WickesbergMatt GuenetteMichael Piercy

Project Overview

• “Battery Powered”• “Remote Controlled”• “Super Tank”

• Tank to be controlled wirelessly over the internet

• Major constraints: Power, real-time video

PSSC

• An ability to send/receive/decode commands from a controller wirelessly

• An ability to control direction/firing capability of a vehicle

• An ability to autonomously avoid obstacles encountered by the tank

• An ability to provide sensor feedback to a wireless controller

• An ability to monitor a battery and prevent signal disconnection due to power loss.

Hardware Diagram

System Diagram

LRVC Server

Controller 1 Controller 2 Controller N

Vehicle 1 Vehicle 2 Vehicle M

FIRE

Android Tablet – “Virtual” Controller

Feedback/Error Text Box

Live Video Stream

Common GUI Components

Common GUI Components

Common LRVC Protocol Provides Services for Android Controller App.

Specific Vehicle Protocols

All communications (Vehicle and/or LRVC Protocols) aremade with TCP off of a TCP/IP stack through WIFI.

Tank Diagram

Fig. 1 – Vision

Front

Back

Fig. 2 – Drop Off Detection Fig. 3 – Wall Detection

Front

Back

Front

Back

Short Range IR Sensors Long Range IR Sensors attached to Stepper MotorsFor 180 degree rotation.

USB Camera

Sens

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lace

men

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Computation Requirements

• Obstacle avoidance algorithm– Stepper/IR coordination– IR voltage translation

• Battery management algorithm

• Real-time video transmission

Peripherals and GPIO

• GPIO :– 8 (2 drive motors, 1 stepper, one firing)

• Peripherals– 4 channels of 10 bit ATD (IR sensors)– 3 channels of PWM (Switching Regs., Stepper)– 1 channel UART (RS232 connection)

Power ConstraintsPower Calculation Voltage (V) Current (mA) Power (W)

Pandaboard 5 800 4

STM32F103ZGT6 3.3 50 0.165

Drive Motors A 12 1100 13.2

Drive Motor B 12 1100 13.2

Stepper Motor 12 330 3.96

Turret Motor 6 200 1.2

Total 3580 35.725

Total with 10% loss 39.2975

Parts ChoicesPart Part #

Full-Bridge Motor Driver Dual - L298N COM-09479

IC Stepper Motor Controller 20 DIP 497-1394-5-ND

Stepper Motor with Cable ROB-09238

Infrared Proximity Sensor Short Range - Sharp GP2D120XJ00F

SEN-08959

Infrared Proximity Sensor Long Range - Sharp GP2Y0A02YK0F

SEN-08958

DC/DC Converters & Regulators APXW005A0X3-SRZ

Coulomb Counter BQ26231

Ryobi 12v drill - 2 batteries and charger HJP002K

Logitech Quick Cam QuickCam Pro 9000

Pandaboard UEVM4460G-02-01-00

Microcontroller Choice

STMicroelectronics STM32F103ZG– ARM 32-bit Cortex-M3– 72MHz– 1MB Flash– 4 16-bit Timers with PWM– 2 I2C– 5 USART– 3 12-bit 16-ch A/D Converter– Plethora of GPIO