A UTONOMOUS R ESCUE V EHICLE (T EAM 10) Team members: Julia Liston, Vipul Bhat, Krithika Iyer, Ruiyang Lin

P ROJECT O VERVIEW Our team’s goal is to build a prototype of a robot that can: Use GPS to locate a lost person Autonomously navigate towards the person Lead him or her back to a safe location, which is the starting location of the robot

PSSC S An ability to move and steer using appropriate motors and drive systems An ability to transmit GPS coordinates from the rescue-point transceiver to the robot via an RF module An ability to receive and process GPS coordinates on the robot and move toward the given coordinates An ability to detect obstacles and navigate around them using ultrasonic sensors. An ability to monitor the battery level of the robot

B LOCK D IAGRAM

B LOCK D IAGRAM ( CONTINUED ) +3.3 V Power Supply Module Microcontroller RF Transmitter Module (Xbee Pro) GPS Module UART (9 bit) PWR _CTR Rescue-Point Transceiver

C OMPONENT S ELECTION

C OMPONENT S ELECTION (C ONTINUED ) Microcontroller 2 PWM 2 UART Minimum 4 ATD Minimum 14 digital I/O pins Fast to handle data input (At least 32-bit preferably, with CPU at least 50MHz) 3.3 V operating voltage Final choice: PIC32MX120F032B for Robot and for the rescue point transceiver.

C OMPONENT S ELECTION (C ONTINUED ) Motors Enough torque to handle rugged terrain Steady state current relatively low to reduce power Built-in gear box to simplify design Chose: Dagu 25D Motor with 34:1 Gearbox GPS receiver Accurate locating capability Relatively inexpensive Communicate through UART Chose: ADH Technology - GPS RF module Long range communication (6 miles) Conform to FCC requirements Chose: Digi International Inc - XBP09-DPSIT-156

C OMPONENT S ELECTION (C ONTINUED ) Ultrasonic Sensors: Easy to use ATD High Resolution Cost-effective Chose: Maxbotix LV-EZ4 H Bridge Delivers up to 5 A continuous Low turn-on resistance Built-in circuit protection Chose: TLE5206

P ACKAGING Constraints Traverse rugged terrain Lightweight and Sturdy Room for PCB and off chip peripherals Minimize cost Looks cool

P ACKAGING (C ONTINUED ) Batteries PCB Ultrasonic Sensors GPS

P ACKAGING (C ONTINUED ) Rescue-Point Transceiver

S CHEMATICS (R OBOT )

S CHEMATICS (T RANSCEIVER )

PCB L AYOUT (R OBOT )

PCB L AYOUT (T RANSCEIVER )

PCB L AYOUT (M ICROCONTROLLER ) RobotTransceiver

PCB L AYOUT (T RANSCEIVER P OWER S UPPLY ) 3.3 VoltGround

PCB L AYOUT (R OBOT P OWER S UPPLY ) 3.3 Volt

PCB L AYOUT (R OBOT P OWER S UPPLY ) -3.3V

PCB L AYOUT (R OBOT P OWER S UPPLY ) Digital Ground

PCB L AYOUT (R OBOT P OWER S UPPLY ) 7.2Volt

PCB L AYOUT (R OBOT P OWER S UPPLY ) Motor Ground

P RELIMINARY S OFTWARE D ESIGN Completed testing: Can transmit and receive with UART ATD PWM – Motor control Timing modules and interrupts Future design: Motor control Navigation algorithm – ultrasonic sensors Process GPS data Transmit and receive with RF module

T IMELINE Timeline89Spring Break Week1-Mar8-Mar15-Mar22-Mar29-Mar5-Apr12-Apr19-Apr26-Apr Software (Basic subroutines) Ultrasonic RF Module GPS Motor Control IR Software (Debugging with hardware) Debugging Navigation Debugging GPS and RF communication Hardware Proof Final PCB Motor Testing PCB Population & Testing Final packaging Prepare for Final Design Presentation