WanderbotFinal PresentationAutonomous Delivery Platform

Kristian GonzalezMechanical Engineering UndergraduateIMDL Spring 2015

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Wanderbot’s Mission: Avoid Obstacles (complete) Find Waypoint (under development) Move between Home and Waypoint (under development)

Introduction

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Systems Overview – Upper Level

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• PS3 Eye Cam

• Adafruit 10DOF IMU

• Teensy 3.1 + jumper wires

• Beaglebone Black

• 4 LED / 1 Button Board

Systems Overview – Lower Level

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• 3 Sharp IR Sensors

• 2 Pololu 75:1 Gearmotors

• Turnigy 5000mAh Battery

• Data “Merge” board

• Power Merge board

PS3 Eye Cam Purpose: Waypoint detection

Adafruit 10DOF IMU Purpose: Compass for heading, Accelerometer / Gyroscope for angle detection

Lessons Learned Pay for convenience & quality, be aware of options before purchasing

K.I.S.S.!

Special sensors

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Current Project Status

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Objective StatusObstacle Avoidance Complete

IMU-Compass CompleteCamera-detection Functional

Integration Functional (OA,Compass)IMU-Accel/Gyro Under DevelopmentObstacle Course Under Development

Encoder Velocities Cancelled