wanderbot final presentation autonomous delivery platform kristian gonzalez mechanical engineering...
DESCRIPTION
Systems Overview – Upper Level Kristian Gonzalez - IMDL - 3 PS3 Eye Cam Adafruit 10DOF IMU Teensy jumper wires Beaglebone Black 4 LED / 1 Button BoardTRANSCRIPT
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WanderbotFinal PresentationAutonomous Delivery Platform
Kristian GonzalezMechanical Engineering UndergraduateIMDL Spring 2015
Kristian Gonzalez - IMDL - 1
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Wanderbot’s Mission: Avoid Obstacles (complete) Find Waypoint (under development) Move between Home and Waypoint (under development)
Introduction
Kristian Gonzalez - IMDL - 2
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Systems Overview – Upper Level
Kristian Gonzalez - IMDL - 3
• PS3 Eye Cam
• Adafruit 10DOF IMU
• Teensy 3.1 + jumper wires
• Beaglebone Black
• 4 LED / 1 Button Board
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Systems Overview – Lower Level
Kristian Gonzalez - IMDL - 4
• 3 Sharp IR Sensors
• 2 Pololu 75:1 Gearmotors
• Turnigy 5000mAh Battery
• Data “Merge” board
• Power Merge board
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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
Kristian Gonzalez - IMDL - 5
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Current Project Status
Kristian Gonzalez - IMDL - 6
Objective StatusObstacle Avoidance Complete
IMU-Compass CompleteCamera-detection Functional
Integration Functional (OA,Compass)IMU-Accel/Gyro Under DevelopmentObstacle Course Under Development
Encoder Velocities Cancelled