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Trenton Andres Jamis Martin Jay Zifer Brad Nowak. Team 2: Hoard Robotics. Project Overview. Swarm of 8 identical wheeled robots Each robot (agent) follows a set of simple behavioral patterns The robots work together to accomplish tasks through emergent behavior. PSSCs. - PowerPoint PPT Presentation
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Team 2: Hoard Robotics
Trenton Andres
Jamis Martin
Jay Zifer
Brad Nowak
Project Overview
Swarm of 8 identical wheeled robots Each robot (agent) follows a set of
simple behavioral patterns The robots work together to accomplish
tasks through emergent behavior
PSSCs An ability for each agent to avoid obstacles
autonomously. An ability to detect direction and proximity of
other objects to agent using IR sensors. An ability to transmit data packets among
agents using an ad-hoc RF network. An ability to utilize swarm behavior to find a
simulated chemical spill. An ability to utilize swarm behavior to avoid
a predator.
Agent Block Diagram
Design Constraint Outline
Major Design Considerations Interface Requirements Computation Requirements On-Chip Peripherals Off-Chip Peripherals Power Constraints Packaging Constraints Cost Constraints Component Selection
Major Design Constraints
Minimum number of agents to successfully display swarm behavior
Cost:Cost increase; swarm size decreases
Production and fabrication:Simplicity vs functionality
Computation Requirements Gather sensor data Proximity calculations from sensor data Network communication “Safe” Motor Control Behavioral algorithms
Interface Requirements
Each Micro must:Communicate with the rest of the swarm
through wireless moduleControl left and right drive speed and
directionShow behavior dependent information on
indicator LEDsGather agent/object proximity through IR
receiversControl IR emitters
On-Chip Peripheral Requirements 8 A/D Inputs (2 for ambient light, 6 for IR) 2 PWM Outputs (L/R motor speed control) 4 SPI Lines for Wireless module 5 Pins for programming header 9 General Purpose I/O
2 Forward/Reverse Select Lines for H-Bridge3 DIP inputs (Reset and debugging)3 LED indicator lights (Behavior-Mode
dependent, Network activity, Errors)1 IR Emitter array enable
Off-Chip Peripheral Requirements RF Module for inter-agent
communicationTransceiver ChipAntenna
H-Bridges for motors LED Drivers Power supply and battery sensing
Power Constraints
Mobile application dictates using batteries
We intend to use standard 9 Volt batteries:Not preferredRequired for economic reasons
Will require an on-board power supply:Microcontroller and RF Module will run at
3.3V
Packaging Constraints Replicable, Replaceable, Interchangeable
All parts should be able to be easily swapped between agents in case of breakdown
Minimize size:Agent size should be determined by functional
components, not packaging Minimize weight:
Minimize motor sizeUse less power
Cost Constraints
Current target per robot is approximately $40
Small increases in cost manifest as large increases for entire swarm
Less expensive robots -> more robots -> more effective swarm
Intention of project is to do less with more
Component Selection: Drive Train
Solarbotics GM3Motor and gear-head
combinationSpecifically design for
robotic applicationsCost effectiveCommonly used224:1 Gear RatioInternal Clutch to
prevent motor stall
Component Selection: Microcontroller PIC18F26J13 Microcontroller
48 MHz (12 MIPS)64k program memory3.8 RAMSuitable number of A/D and GPI/O pinsPrevious experience with PIC familyEconomically priced
Component Selection: RF Module
MRF24J40MAComplete 2.4 GHz
TransceiverSmall sizeLow powerMatched to
microcontroller series
QUESTIONS?