Raton robotico

Camosun Autonomous Robotics Project Inc.

The Robotic Mouse

Prepared for

Paul Johnston Contech Godfried Pimlott Elex 290 Joe Benge Elex 271

Prepared by Greg Evans Jordan Reynolds Mark Bailey CARP Inc. Victoria, BC March 15, 2001

Memorandum

To: From: Subject: Date:

Paul Johnston, Godfried Pimlott, Joe Benge Greg Evans, Jordan Reynolds, Mark Bailey Robotic Mouse DevelopmentMarch 15, 2001

Please find attached the development report entitled "The Robotic Mouse". CARP Inc. ensures that this document contains the development of the platform, the sensor modules, the driver unit, the control module, the quadrature encoders and the RF assemblies based on the original specifications. We altered some of the minor specifications due to the complexity of the project and thetime limitations. This report contains all the necessary information to reproduce each of the distinct modules and to assemble the components into a functional, autonomous system. We perceive the prototype, as outlined in the document, as a conceptual, development tool for future designs. We would like to thank Contech for providing us with the materials needed during the development andimplementation of this project. We would also like to thank the Electronics Department at Camosun College for their guidance during the initial specification and development phase.

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Executive Summary

The mouse project involves the construction of a fully autonomous robot. It must be able to move about its environment while encountering and dealing with hazards. The mouse has to have the capabilityof tracking its way back to its point of origin in a logical and efficient manner. We met these objectives with the design and development of the autonomous, mouse robot. This unit can move throughout its environment under its own control while sensing any obstacles around it. The sensors interact with the environment to send stimuli to the robot, thus telling it where the obstructions arerelative to its position and what actions should be taken to avoid them. During the robot's traversal mode, it can vary the speed at which it operates and can move forward, backward, left, right or even stop. The robot can find its way back to its station by tracking the intensity of a RF signal. This input increases as the mouse gets closer to the station. If the mouse loses this signal, it willcontinue to react with the environment until it finds the signal once again. Overall, the mouse can fully operate in most environments by using all of its modules to successfully navigate its way. We can improve its existing characteristics by implementing better sensor systems. The platform is extremely versatile and can incorporate a variety of ideas and developments. It is up to the user to determinethe extent of the robot's capabilities.

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Table of Contents

Executive Summary……………………………………………….i Table of Contents…………………………………………………. ii List of Figures…………………………………………………….. v 1.0 Introduction………………………………………………………..1 1.1 Report Purpose and Scope……………………………….. 1 1.2 Reiteration of Project Specifications…………………….. 1 Robotics Modules…………………………………………………. 2 2.1Platform…………………………………………………….2 2.1.1 System Description……………………………….. 2 2.1.2 System Capabilities………………………………..3 2.1.3 Interfaces………………………………………….. 3 2.1.4 Relevant Work Accomplished…………………… 4 2.1.5 Platform Theory………………………………….. 4 2.1.6 Data……………………………………………….. 5 2.1.7 Problems Encountered…………………………… 5 2.1.8 Results…………………………………………….. 6 2.2 PWM Motor Controller and Driver…………………….. 6 2.2.1 System Description……………………………….. 6 2.2.2 SystemCapabilities………………………………. 7 2.2.3 Interfaces…………………………………………. 7 2.2.4 Relevant Work Accomplished…………………… 7 2.2.5 Motor Theory……………………………………... 8 2.2.6 Data……………………………………………….. 10 2.2.7 Problems Encountered…………………………… 10 2.2.8 Results…………………………………………….. 11 Sensor Network…………………………………………… 11 2.3.1 System Description……………………………….. 11 2.3.2 System Capabilities………………………………. 12 2.3.3...