1. National Instruments Autonomous Robotics Competition
CSEM Thesis Project 2015
Joshua Petrohilos
Supervisor: Nasser Asgari

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

3. Required functions Movement Movement tracking Object Detection
Unloading

4. Movement Navigating the course Precise to avoid obstacles
Somewhat quick

5. Movement - Motor 50:1 Pololu Gear Motor Considered Stepper 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

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

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

8. Movement Tracking Encoders Laser mice sensor Use both to be thorough
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

9. Obstacle Detection Outer Wall Shipping Containers Hazard Area
Speed Bump

10. Obstacle Detection Lidar Sonar Excellent range Wide angle
Only takes one point at a time
Sonar
Lower range
Less precise
Good for “bump” avoidance

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

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

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

14. 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

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

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

17. Relevant Milestones Milestone 2 (4th May) Milestone 3 (10th June)
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

18. Thanks for listening!
Questions?

19. References Gear Motor: https://www.pololu.com/product/1444
Sabertooth:
Kangaroo:
Lidar:
MyRIO image:
Circuit Board image:
Encoder image:
Mouse image:
Electrical Design slide images:
Stepper Motor image:
Questions image: