Robotic Navigation Distance Robotic Navigation Distance Control PlatformControl Platform

By:By:

Scott SendraScott Sendra

Advisors:Advisors:

Dr. Donald R. SchertzDr. Donald R. Schertz

Dr. Aleksander MalinowskiDr. Aleksander Malinowski

April 29, 2004April 29, 2004

OverviewOverview

ObjectiveObjective Functional DescriptionFunctional Description System Block DiagramsSystem Block Diagrams Lab WorkLab Work ResultsResults Future Development and ResearchFuture Development and Research Equipment / Part ListEquipment / Part List SourcesSources QuestionsQuestions

ObjectiveObjective

Design and Build a Design and Build a Robotic PlatformRobotic Platform

• Maintain a fixed safety Maintain a fixed safety distancedistance

• Fixed steeringFixed steering• Small and economical Small and economical

systemsystem

ApplicationsApplications• RoboticsRobotics• Slow speed moving Slow speed moving

vehiclesvehicles• AutomotiveAutomotive

Functional DescriptionFunctional Description

Modes of OperationModes of Operation System I/OSystem I/O System DiagramsSystem Diagrams

Modes of OperationModes of OperationFixed Navigation ModeFixed Navigation Mode

• User enters fixed safety distance in feetUser enters fixed safety distance in feet• User enters User or Auto Out of Range ModeUser enters User or Auto Out of Range Mode• User presses activation buttonUser presses activation button

Increment / Decrement ModeIncrement / Decrement Mode• User is able to (increment / decrement) motor speed by User is able to (increment / decrement) motor speed by

one unit manuallyone unit manually

Modes of OperationModes of Operation

User Out of Range ModeUser Out of Range Mode• Followed object is out of range of sensorFollowed object is out of range of sensor• Robotic platform stopsRobotic platform stops• ““Out of Range” displayed on LCDOut of Range” displayed on LCD• User reactivates navigation controls by pressing 0User reactivates navigation controls by pressing 0• ““Following” displayed on LCDFollowing” displayed on LCD

Auto Out of Range ModeAuto Out of Range Mode • EMAC reactivates navigation controls when object is EMAC reactivates navigation controls when object is

detecteddetected

Modes of OperationModes of Operation

Stop / Reload ModeStop / Reload Mode• User is able to (stop / reload) motor speed manuallyUser is able to (stop / reload) motor speed manually

Navigation Control ModeNavigation Control Mode• User is able control Navigation ModeUser is able control Navigation Mode

System Inputs to EMACSystem Inputs to EMAC

User InputUser Input KeypadKeypad

Sensor InputSensor Input Ultrasonic sensorsUltrasonic sensors

• 1 sensor for distance 1 sensor for distance controlcontrol

Robotic Platform

Motor

EMAC Microcontroller

Distance Control Sensor

Robotic Platfor

mSteering

LCD Display

Keypad(User Input)

System Outputs from EMACSystem Outputs from EMAC

LCD DisplayLCD Display• Current mode of operationCurrent mode of operation

• User required input User required input informationinformation

Robotic Platform MotorRobotic Platform Motor Robotic Platform SteeringRobotic Platform Steering Trigger Pulse for SensorTrigger Pulse for Sensor

Robotic Platform

Motor

EMAC Microcontroller

Distance Control Sensor

Robotic Platfor

mSteering

LCD Display

Keypad(User Input)

System Sensor DiagramSystem Sensor Diagram

Robotic Platform(R/C Car)

DistanceSensor

Moving Object(Similar size to robotic platform)

System Block DiagramsSystem Block Diagrams

HardwareHardware• Subsystem FunctionSubsystem Function• I/O of SubsystemI/O of Subsystem

SoftwareSoftware• Modes of Operation FlowchartsModes of Operation Flowcharts

Sensor SubsystemSensor Subsystem

SRF04 Ultrasonic SRF04 Ultrasonic Pulse SensorPulse Sensor

Sensor Input SignalSensor Input Signal• Trigger Pulse of 1.5 msTrigger Pulse of 1.5 ms

Sensor Output SignalsSensor Output Signals• Output signal related to Output signal related to

distancedistance• PWM at 33 HzPWM at 33 Hz

Electric Motor SubsystemElectric Motor Subsystem

ESC and Electric MotorESC and Electric Motor

Input signalInput signal• PWM signal from 1.0 ms to PWM signal from 1.0 ms to

1.7 ms positive pulse width at 1.7 ms positive pulse width at 33 Hz33 Hz

Output speedOutput speed• Motor’s shaft speed variesMotor’s shaft speed varies• Full forward speed with 1.7 ms Full forward speed with 1.7 ms

pulse widthpulse width• Stop with 1.0 ms pulse widthStop with 1.0 ms pulse width

Steering SubsystemSteering Subsystem

Input signalInput signal• PWM signal from 1.1 PWM signal from 1.1

ms to 1.9 ms positive ms to 1.9 ms positive pulse width at 33 Hz pulse width at 33 Hz with 1.5 ms as neutralwith 1.5 ms as neutral

OutputOutput• Rotational servo horn Rotational servo horn

to translational to translational movement of steering movement of steering rodrod

Hardware Subsystem Block Hardware Subsystem Block DiagramDiagram

Robotic PlatformSteering

Subsystem

PWM SignalTranslates Steering Rod

EMAC Microcontroller

Robotic Platform Motor

Subsystem

PWM Signal

Power to Drive Wheels on R/C Car

Distance Control Sensor

Subsystem

PWM Signal

Trigger Pulse

Main Software FlowchartMain Software Flowchart

Out of Range Mode Display Prompt:Press 1 for UserPress 2 for Auto

Keypad:User Enters Out of Range Mode

EMAC Initialization

LCD Initialization

Keypad Initialization

Keypad:User enters fixed distance

Fixed Steering Control

Display Prompt:Press 0 to Activate

Keypad:User Enters 0

Fixed Distance Display Prompt:Enter 1-9 feet:

Control = 0

Main Software FlowchartMain Software Flowchart(Fixed Navigation Mode)(Fixed Navigation Mode)

Fixed Distance Control

Check if signal from

sensor

Enter User/Auto Out of Range Mode

No

Yes

Increment Motor Speed Decrement Motor Speed

Measure > Desired Measure < Desired

Measure = Desired

Check Control Variable

Check Keypad

1

0

No

Yes

Call Software Mode Pressed

User/Auto FlowchartUser/Auto Flowchart User/Auto Out of Range Mode

Display: Out of Range

User Out of Range Mode Auto Out of Range Mode

Stop Electric Motor

Display:Wait for object

Display:Press 0 to Activate

Display:Following

Return

Waits for User to Press 0

Increment / Decrement Increment / Decrement Motor Speed FlowchartsMotor Speed Flowcharts

Call IncMotorSpeed ()

Keypad:User Presses Increment Motor

Speed Button C

Display Prompt:Manual Inc SpeedPress 0 to Activate

Call DecMotorSpeed ()

Keypad:User Presses Decrement Motor

Speed Button E

Display Prompt:Manual Dec SpeedPress 0 to Activate

ReturnReturn

Stop / Reload FlowchartsStop / Reload Flowcharts

Stop Electric Motor

Keypad:User Presses Stop Button B

Display Prompt:Manual Stop

Press 0 to Activate

Loads Last Motor Speed

Keypad:User Presses Reload Motor

Speed Button D

Display Prompt:Reload Last SpeedPress 0 to Activate

Save Current Motor Speed

Return

Return

Navigation ControlNavigation Control

Return

Check Control Variable

10

Stop Electric Motor

Keypad:User Presses Control Button 0

Toggle Control Bit

Display:Following

Display:Deactivated

Return

Lab WorkLab Work

Ultrasonic trigger pulse and servo input signals Ultrasonic trigger pulse and servo input signals with 1.5 ms at 33 Hz being neutral using Timer 2with 1.5 ms at 33 Hz being neutral using Timer 2

ESC reprogrammedESC reprogrammed• Reprogrammed :Reprogrammed : 1.0 ms stop1.0 ms stop

1.7 ms full forward1.7 ms full forward Ultrasonic PWM signal measurements using Ultrasonic PWM signal measurements using

interruptsinterrupts Output PWM signal using Timer 2 on EMAC to Output PWM signal using Timer 2 on EMAC to

control motor speedcontrol motor speed

Lab WorkLab Work

Control StrategyControl Strategy• Current distance is smaller than user-defined Current distance is smaller than user-defined

distancedistance-Decrease PWM signal to motor by fixed number-Decrease PWM signal to motor by fixed number

• Current distance is larger than user-defined Current distance is larger than user-defined distancedistance

--Increase PWM signal to motor by fixed numberIncrease PWM signal to motor by fixed number

Lab WorkLab Work

Circuit DiagramCircuit Diagram

ResultsResults

All software modes are completeAll software modes are complete EMAC on the robotic platform triggers EMAC on the robotic platform triggers

ultrasonic sensor and measures PWM signal ultrasonic sensor and measures PWM signal from sensorfrom sensor

EMAC increases or decreases motor speed EMAC increases or decreases motor speed Robotic platform maintains the entered Robotic platform maintains the entered

safety distance from objectsafety distance from object

ResultsResults

ResultsResults

Future Development and Future Development and ResearchResearch

Model and determine transfer function of Model and determine transfer function of robotic platformrobotic platform

Implement a better control strategyImplement a better control strategy Incorporate steering of platform using more Incorporate steering of platform using more

sensorssensors Using fuzzy logic steering to allow platform Using fuzzy logic steering to allow platform

to steer non-linearly around cornersto steer non-linearly around corners

Equipment and Parts ListEquipment and Parts List

Hitec HS-303 ServoHitec HS-303 Servo Kyosho Hoppin Mad RTR R/C CarKyosho Hoppin Mad RTR R/C Car Team Novak Rooster electronic speed Team Novak Rooster electronic speed

controllercontroller HP 8011A Pulse GeneratorHP 8011A Pulse Generator SRF04 Ultrasonic pulse sensorsSRF04 Ultrasonic pulse sensors 80535 EMAC Microcontroller80535 EMAC Microcontroller

SourcesSources

http://www.teamnovak.com/Download/acrobat/rooster_superr.pdfhttp://www.teamnovak.com/Download/acrobat/rooster_superr.pdf http://www.hitecrcd.com/Servos/DiscontinuedServos/HS303.pdfhttp://www.hitecrcd.com/Servos/DiscontinuedServos/HS303.pdf http://www.robot-electronics.co.uk/shop/http://www.robot-electronics.co.uk/shop/

Ultrasonic_Ranger_SRF041999.htmUltrasonic_Ranger_SRF041999.htm http://www.i-car.com/html_pages/about_icar/current_events_news/http://www.i-car.com/html_pages/about_icar/current_events_news/

advantage/advantage_online_archives/2004/021604.htmladvantage/advantage_online_archives/2004/021604.html http://www.gavrila.net/Computer_Vision/Smart_Vehicles/Media_Coverage/http://www.gavrila.net/Computer_Vision/Smart_Vehicles/Media_Coverage/

spectrum.pdfspectrum.pdf http://www.ece.msstate.edu/classes/design/ece4532/2003_spring/cruise_control/http://www.ece.msstate.edu/classes/design/ece4532/2003_spring/cruise_control/

QUESTIONSQUESTIONS

??

Project Website: http://cegt201.bradley.edu/projects/proj2004/distcont/Project Website: http://cegt201.bradley.edu/projects/proj2004/distcont/