24-01-2010, 02:40 PM
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Project Definition
To design a mobile robotic system that will
traverse through a maze with arbitrary
obstacles and transmit information to a PC that
will graphically display the robotâ„¢s telemetry
information and maze layout.
Project Objectives
Navigate/Collect information within maze
Traverse a closed path within maze
Transmit information using transceivers
Process and display received data
Exit maze
Project Specifications
Components
Altera Board
Drive Train
Rangefinders
IR Sensors
Compass
Communications
PC Application
Altera Board
Controls the robot
Interface to all modules
Modules are connected through
expansion header pins
Built-in 7-segment LEDâ„¢s, push-button
switches, and DIP switches for testing
Programmed using VHDL
Drive Train
Consists of 2 modified servos
with wheels
Drive Train control logic
provides 8 directional settings
and 4 speed settings
Servos are driven using PWM
signals
Speed controlled by altering
duty cycle
Ultrasonic Rangefinder Sensors
Consists of 3 rangefinder
modules
Determines range to objects
Returns hex value, which is
interpolated by software
Actual effective range
3cm “ 89cm
Actual precision inconsistent,
thus streaming buffer
implemented in software
Real-World Application
Space/Nautical
Exploration
Plant Automation
Military Weapons
Home Appliances
Automated Medical
Equipment
