A.G.I.L.E Team Members: Brad Ramsey Derek Rodriguez Dane Wielgopolan Project Managers: Dr. Joel Schipper Dr. James Irwin Autonomously Guided Intelligent

A.G.I.L.EA.G.I.L.E

Team Members:Team Members:Brad Ramsey Brad Ramsey

Derek RodriguezDerek RodriguezDane WielgopolanDane Wielgopolan

Project Managers:Project Managers:Dr. Joel SchipperDr. Joel SchipperDr. James IrwinDr. James Irwin

Autonomously Guided Intelligent Lawn Equipment

ECE Department

A.G.I.L.EA.G.I.L.E

Team Members:Team Members:Brad Ramsey Brad Ramsey

Derek RodriguezDerek RodriguezDane WielgopolanDane Wielgopolan

Project Managers:Project Managers:Dr. Joel SchipperDr. Joel SchipperDr. James IrwinDr. James Irwin

Autonomously Guided Intelligent Lawn Equipment

ECE Department

3Bradley University TOP SECRET

PRESENTATIONPRESENTATION OUTLINEOUTLINE

PROJECT SUMMARYPROJECT SUMMARY PROJECT OBJECTIVESPROJECT OBJECTIVES DESIGN CHANGESDESIGN CHANGES ADDED/REMOVED FEATURESADDED/REMOVED FEATURES HARDWARE OVERVIEWHARDWARE OVERVIEW SOFTWARE OVERVIEWSOFTWARE OVERVIEW SEMESTER TIME LINESEMESTER TIME LINE

ORIGINALORIGINAL UPDATEDUPDATED


Project SummaryProject Summary

The goal of the project is to create a The goal of the project is to create a proof of concept autonomous proof of concept autonomous lawnmower. lawnmower.

The lawnmower will stay in a defined The lawnmower will stay in a defined area and avoid obstacles while area and avoid obstacles while efficiently mowing.efficiently mowing.


PROJECT OBJECTIVESPROJECT OBJECTIVES

Vehicle MovementVehicle Movement Detect the field boundaries using RFDetect the field boundaries using RF Track vehicle’s orientation Track vehicle’s orientation Detect and avoid objectsDetect and avoid objects Safety shutoff switch and bump Safety shutoff switch and bump

sensorssensors Design a lawnmower navigation Design a lawnmower navigation

algorithm algorithm


PROJECT OBJECTIVESPROJECT OBJECTIVES Vehicle Movement Vehicle Movement

Get chassis, battery, and motorsGet chassis, battery, and motors Create PWM signal using hardwareCreate PWM signal using hardware Use H-Bridge to drive motor from PWMUse H-Bridge to drive motor from PWM

Detect the field boundaries using RFDetect the field boundaries using RF Set up transmitting test areaSet up transmitting test area Design and implement two single supply band pass RF Design and implement two single supply band pass RF

receiversreceivers Test receivers in test area and record dataTest receivers in test area and record data Use ADC to collect data from the receiversUse ADC to collect data from the receivers

Detect and avoid objects (static/dynamic)Detect and avoid objects (static/dynamic) Write ultrasonic sensors driversWrite ultrasonic sensors drivers Write code to calculate distance from sensor dataWrite code to calculate distance from sensor data Mount ultrasonic sensors to chassisMount ultrasonic sensors to chassis Write code to handle obstaclesWrite code to handle obstacles


PROJECT OBJECTIVES PROJECT OBJECTIVES

Track vehicleTrack vehicle Software defined PWM signal Software defined PWM signal Mount digital compassMount digital compass Utilize compass informationUtilize compass information

Safety shutoff switch and bump Safety shutoff switch and bump sensorssensors Mount shutoff switchMount shutoff switch Mount bump sensorsMount bump sensors Tie all switches to a high priority external Tie all switches to a high priority external

interruptinterrupt


PROJECT OBJECTIVES PROJECT OBJECTIVES

Design a lawnmower navigation system Design a lawnmower navigation system Intelligent algorithms to optimize mowingIntelligent algorithms to optimize mowing Calibrate sensors for optimal performanceCalibrate sensors for optimal performance

Ultrasonic sensorUltrasonic sensor Digital CompassDigital Compass

Utilize sensor input to know direction and Utilize sensor input to know direction and orientationorientation

Utilize senor input to avoid obstaclesUtilize senor input to avoid obstacles


Changes in designChanges in design

Removed off-board computerRemoved off-board computer Simplified DesignSimplified Design

Redesigned RF receiverRedesigned RF receiver No negative supply on a batteryNo negative supply on a battery Compensation for lack of amplifierCompensation for lack of amplifier

Redesigned Motor ControllerRedesigned Motor Controller No microcontroller generated PWMNo microcontroller generated PWM Voltage Controlled PWM via hardwareVoltage Controlled PWM via hardware No feedback from rotary encoderNo feedback from rotary encoder Utilizes D/A converter on microcontrollerUtilizes D/A converter on microcontroller


HardwareHardware CompletedCompleted

Voltage controlled PWM generatorVoltage controlled PWM generator H-bridge setupH-bridge setup All parts receivedAll parts received RF circuitsRF circuits

Needs WorkNeeds Work Ultrasonic sensor mountsUltrasonic sensor mounts Mount parts on chassisMount parts on chassis

Ultrasonic sensorsUltrasonic sensors Digital compassDigital compass Bump sensorsBump sensors RF receiversRF receivers


Voltage Controlled PWMVoltage Controlled PWM

Saw tooth WaveSaw tooth Wave DC VoltageDC Voltage ComparatorComparator

DC OUTPUT FROM DAC

SAW TOOTH WAVE

PWM OUTPUT


EMAC Wiring DiagramEMAC Wiring Diagram

EMAC MICROCONTROLLER

INITECHO

P4.1

INITECHO

INITECHO

INITECHO

INIT

PU

LSE

MUX

SE

LEC

T 2

SE

LEC

T 1

P4.2 P4.3

DIGITAL COMPASS

VCC SCL SDA PWM CAL GND

P1.0/CC0

MOTOR CONTROLLER

DOG FENCE DETECTOR 2

DOG FENCE DETECTOR 1

ADC0ADC1OP2 DAC1 DAC0

BUMP SENSORS

P1.2INT5

ULTRASONIC SENSOR ULTRASONIC SENSORULTRASONIC SENSOR

OP3P4.0

EC

HO


SoftwareSoftware

User interface User interface Compass PWMCompass PWM U.S. Sensor PWM using software U.S. Sensor PWM using software

countercounter RF sensorRF sensor Motor control Motor control Navigation and safety controlNavigation and safety control Boundary followingBoundary following Object avoidanceObject avoidance


SoftwareSoftware

Completed Completed Ultrasonic Sensor Read FunctionUltrasonic Sensor Read Function Base CodeBase Code Timing FunctionsTiming Functions

Needs WorkNeeds Work Compass Read FunctionCompass Read Function RF Sensor Read FunctionRF Sensor Read Function Control AlgorithmControl Algorithm


Original Semester Timeline Original Semester Timeline


New Semester TimelineNew Semester Timeline


Questions?Questions?

NO?....NO?....

GOODGOOD

Documents

A.G.I.L.E Team Members: Brad Ramsey Derek Rodriguez Dane Wielgopolan Project Managers: Dr. Joel Schipper Dr. James Irwin Autonomously Guided Intelligent