ece 477 f inal p resentation t eam 10 s pring 2013 ruiyang lin vipul bhat julia liston krithika...
TRANSCRIPT
ECE 477 FINAL PRESENTATION TEAM 10 SPRING 2013
Ruiyang LinVipul Bhat
Julia ListonKrithika Iyer
OUTLINE
Project overviewBlock diagramDesign challengesIndividual contributionsProject demonstrationQuestions / discussion
PROJECT OVERVIEW Our team’s goal was to build a prototype of a
robot that can:Use GPS to locate a lost personAutonomously navigate towards the person while
avoiding obstacles Made up of two parts:
Rescue-point transceiver, which communicates GPS coordinates via RF
ARV (Autonomous Rescue Vehicle), which navigates towards the transceiver
BLOCK DIAGRAM
Microcontroller (PIC32)
RF Receiver Module (Xbee
Pro)
Module
GPS Module
Ultra-Sonic Range Finder
Ultra-Sonic Range Finder
Ultra-Sonic Range Finder
Motor Drive
Battery Monitor Module
Analog
Analog
Analog
UART (8 bit)
UART (8 bit)
IR Receiver
Power Supply Module
PW
R O
N/O
FF
7.2 V
3.3V
PWR level (Analog)
Autonomous Rescue Vehicle (ARV)
BLOCK DIAGRAM (CONTINUED)
+3.3 VPower
Supply Module Microcontroller
RF Transmitter Module (Xbee
Pro)
GPS Module UART (9 bit)
Rescue-Point Transceiver
DESIGN CHALLENGES
Hardware issues – Motors draw a lot of current
No Compass - had to make calculations based on distance traveled
Quality of GPS module - had to accommodate for GPS error
Testing – GPS took a long time to find satellite, weather condition critical.
INDIVIDUAL CONTRIBUTIONS
Team Leader – Ruiyang Lin Team Member 2 – Krithika Iyer Team Member 3 – Julia Liston Team Member 4 – Vipul Bhat
TEAM LEADER – RUIYANG LIN
o Main Responsibilities: Motor drive, power supplyo Initial motor drive and power supply designo Battery monitor module designo PCB layouto Hardware:
o Motor drive, power supply, battery monitor module
o Helped with testing RF module and GPS moduleo Software:
o Initial programming (ADC, PWM, Timer)o Obstacle detection & Navigation algorithm
MEMBER 2 – KRITHIKA IYERo Main Responsibilities: RF and GPSo RF module hardware interfacing in the Rescue-
Point Transceiver and ARVo RF transmitter and receiver software
development o GPS module hardware interfacingo GPS data extracting and processing for
navigationo Debug circuit designo Software for Infrared Sensorso Helped Julia in the Navigation algorithm
MEMBER 3 – JULIA LISTON
o Main Responsibility: Navigation Algorithmo Initial designo Integration with GPS module
o Obstacle Detection Algorithmo Software organization and modularizationo Housing for the transceiver and mounting for the
ultrasonic sensorso General team support: website, soldering, hardware
testing
MEMBER 4 – VIPUL BHAT
o Main Responsibility: Obstacle Detection Algorithm
o Supporting role in Navigation Algorithmo Supporting role in motor drive and power
supply implementation o Assisted with GPS testingo Emergency team rescue
PROJECT DEMONSTRATION
1. An ability to move and steer using appropriate motors and drive systems
2. An ability to transmit GPS coordinates from the rescue-point transceiver to the robot via an RF module
3. An ability to receive and process GPS coordinates on the robot and move toward the given coordinates
4. An ability to detect obstacles and navigate around them using ultrasonic sensors.
5. An ability to monitor the battery level of the robot
https://engineering.purdue.edu/477grp10/Documents/ARV_video.m4v
QUESTIONS / DISCUSSION