toward the design of autonomous robots
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Toward the Design ofToward the Design of
Autonomous RobotsAutonomous Robots
Tyler Jones
David Freiberger
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OutlineOutline
Introduction
Hardware Implementation
Conclusion
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Introduction
Micromouse Competition
IEEE Sponsored
Local, Regional and National Events
Objective: build fastest maze solving
robot
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Introduction
The micromouse must:
Autonomously navigate to the center
of a 3 x 3 meter wooden maze
Store maze layout in memory
Perform algorithm to determine fastest
path
Make speed run along fastest path
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Hardware Overview
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Hardware Overview
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MicrocontrollerMicrocontroller
Brains of the robot
Atmel ATMEGA32 RISC
Microcontroller
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Power System
Maxim MAX5091 28V, 100mA high-
voltage linear regulator
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Motor Control Section
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MotorsMotors
Faulhaber 1524 DC 6V Motors
Included Encoder and Gearhead
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Encoders
Uses counter chip to keep track of
motor turns
Maxim DS2423
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Driving Motors
Pulse Width Modulation
DPDT switch to change motor
direction
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Driving Motors
Freescale MPC17531 Dual H-Bridge
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Driving Motors
Maxim MAX4701 Dual DPDT Analog
Switch
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Sensor SectionSensor Section
Infrared LED and Phototransistor
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SensorsSensors
Detecting walls
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SensorsSensors
Dealing with noise
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LCD
Hitachi based LCD Display
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Wheels, Chassis and OtherWheels, Chassis and Other
Support FrameworkSupport Framework
Acrylic Plastic Chassis
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Full SchematicFull Schematic
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ConclusionsConclusions
Much future work needed
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EndEnd
Thanks for listening
Questions?