1. Wireless Autonomous Trolley
ECE Computer Engineering Design Project
Wireless Autonomous Trolley
Randy Baron, Phillip Hoang
2017
Overview
The Wireless Autonomous Trolley (WAT) is a robot capable of delivering a small payload to a marked location. These locations are identified by colour and commands are sent to the robot by a simple wireless (WiFi) interface over a network that the robot hosts.
Order of Operation
User gives command on interface
WiFi module receives command
RC?
Execute RC command
Yes No
Move towards marker
Camera takes picture and image is processed No
Marker found close?
Yes
Get next command
Components
Altera DE0 Nano
uCam-II Serial Camera
Captures 640x480 JPEG images
ESP-8266 WiFi Module
Hosts IEEE compliant network
irs05a Infrared Proximity Sensor
Used for collision avoidance
LED Push Button
External reset button and status light
Actobotics Half Pint Runt Rover Chassis Kit
Includes four 4.5V 250mA motors
TB6612FNG Dual Channel Motor Driver
Three DC Voltage Regulators
5V, 4.5V, 3.3V
6 AA Batteries
Autonomous Mode
Operating in autonomous mode, the WAT can find and navigate towards a coloured marker that the user specifies. The colours that it will search for are specified on the webpage that the WAT provides on its network.
RC Mode
Operating in RC mode the WAT is fed simple movement instructions directly by the user over the web and it can act as a simple remote control car.
Department of Electrical & Computer Engineering