National Instruments Autonomous Robotics CompetitionCSEM Thesis Project 2015Joshua PetrohilosSupervisor: Nasser Asgari

My role: Electrical Design• Component research• Some Mechanical Design• Circuit Design• Board Design• Wiring• Soldering• Sensor Calibration

Required functions• Movement• Movement tracking• Object Detection• Unloading

Movement• Navigating the course• Precise to avoid obstacles• Somewhat quick

Movement - Motor• 50:1 Pololu Gear Motor• 12V, 5A• 12kg/cm Torque• Displaced shaft• Different ratios sold• Encoder

• Considered Stepper Motor• Good for Odometry• Hard to track with Omniwheels• Gear Motor is much simpler

Movement – Motor Driver• Sabertooth dual 5A Motor Driver• 6V to 18V• Controls 2 motors

Movement – Motion Controller• Kangaroo Motion Controller• Works with Sabertooth and MyRIO• Controlled by MyRIO• Ensures motors are working consistently• Feedback to provide tracking

Movement Tracking • Encoders• Provides speed information• Checks Motors are working• Could be inaccurate with Omniwheels

• Laser mice sensor• Provides distance + speed tracking• Could provide more greater accuracy• Needs to be close to the ground• Tracks with respect to Orientation• Research to be done

• Use both to be thorough

Obstacle Detection• Outer Wall• Shipping Containers• Hazard Area• Speed Bump

Obstacle Detection• Lidar• Excellent range• Wide angle• Only takes one point at a time

• Sonar• Lower range• Less precise• Good for “bump” avoidance

Obstacle Detection - Lidar• Lidar: URG-04LX-UG01• Quite small• Runs on USB Power (5V)• 5m range• 220 degree angle

Object Detection - Sonar• HC-SR04• 5V Voltage• 2cm-450cm detection range• Used for “bump” detection• Cheap• Could use Multiple

Unloading• Objects to be unloaded in the cargo terminals• Go over speedbump, or avoid it?

Unloading• Depends on mechanical design• Research to be done• Stepper Motors• Precise, but slow• Can be geared for high torque

• Servos• High gearing would be optimal

MyRIO• Main processor• 6-18V• Powered from Battery• Provides regulated voltages• Several Inputs/Outputs

Breakout Board• Easy way to wire components• Can be mounted away from MyRIO• Reduces load on MyRIO• Much neater

Relevant Milestones• Milestone 2 (4th May)• Project Proposal• Actuator/Motor control with LabView

• Milestone 3 (10th June)• Obstacle Avoidance prototype• Motors and Lidar will be required

• Milestone 4 (20th July)• Navigation/Localisation• Obstacle avoidance• Electrical Design should be finalised

• Milestone 5 (24th August)• Object Handling, Navigation and Obstacle Avoidance• Electrical Design should be fully implemented

Thanks for listening!• Questions?

References• Gear Motor: https://www.pololu.com/product/1444• Sabertooth: https://www.dimensionengineering.com/products/sabertooth2x5• Kangaroo: https://www.dimensionengineering.com/products/kangaroo• Lidar: https://www.hokuyo-aut.jp/02sensor/07scanner/urg_04lx_ug01.html• MyRIO image: http://

www.conrad.de/medias/global/ce/9000_9999/9300/9330/9337/1152106_BB_00_FB.EPS_1000.jpg

• Circuit Board image: http://www.reatechnologies.com/Images/board.jpg• Encoder image: http://

hades.mech.northwestern.edu/images/2/22/Encoder_diagram.png• Mouse image: http://

assets.razerzone.com/eeimages/categories/314/laser_sensors.png• Electrical Design slide images:

http://powertex.net.au/communities/7/004/012/525/077//images/4607841967.jpg• http://www.bioinstruments.net/ee2.png• Stepper Motor image: http://

www.automationtechnologiesinc.com/wp-content/uploads/2012/01/KL34H280-55-4A-1024x1024.jpg

• Questions image: http://en.hdyo.org/assets/ask-question-1-ff9bc6fa5eaa0d7667ae7a5a4c61330c.jpg