Project Description
Design and implement an Automated Guided Vehicle (AGV) robot with the
following properties:
a. Having two wheels connected
to geared bipolar stepper motors with the ratio of 1/5 (wheel/shaft) on a
straight axis and two ball casters at front and backside of the robot (wheel’s
diameter is 100 mm), axis length is 200 mm.
b. Shaft encoders per wheel
with 8 bits accuracy per rotation.
c. Planning to traverse a
trajectory for 120 degrees of a circle with radius of 500mm. and then going
straight for 1000mm.
d. Three line following
sensors and an electronic compass for deviation avoidance (in a cascaded loop)
e. A digital camera as radar
installed on a servomotor
f.
An infrared range finder with analog output connected
to 10bit ADC with 0-5v analog range up to 80 cm with linear ratio
1) What are trajectory sizes
in terms of pulses in t1 (curve) and t2 (straight) phases for L/R wheels?
2) What is total trajectory
length?
3) Considering the equation of
motion for radar turning around Z-axis for 60 degrees, present the mapping
matrix with respect to the body of the robot.
4) Draw block diagram of the
hybrid cascaded control mechanism for deviation avoidance.
5) Draw electronic diagram for
the entire robot based on a microcontroller with 4 I/O ports (Port A is also
acting as ADC)
6) Write software pseudo codes
for following functions:
a. Move_Wheel(Wheel, Pulses)
b. Move_camera(Angle) //servo
domain is 180 degrees
c. Read_Range_Finder()
d. Adjust() //Deviation
Avoidance
Our Work
Design and answers of the above questions [View PDF]
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