1. Locomotion Jad Farah Long Quy Patrick Swann Korhan Demirkaya Ngoc Mai Navigation Steven Weaver Denden Tekeste Ali Alkuwari Marcus Schaffer

2. Objective Design & build an autonomous robot with ability to: Navigate a given course -Pass through gates by sensing beacon Avoid obstacles -Various sensors to plot track of robot Control functions: -High (BEAGLEBOARD) -Low (AVR1 & 2)

3. Project Requirements Various sensors to plot track of robot Detect ultrasonic beacons within 15 - 25 feet Fits within a 16”x16”x16” cube Has clearly labeled emergency stop switch Travels 1.5 ft/sec Regulates voltage

4. Block Diagram

5. Block Diagram - Navigation

6. Block Diagram – Locomotion

7. Assembly aluminum body specially designed PCBs

8. unique wire layout and alternative Assembly

9. switches for logic & motor power fuses

10. Mounting Various Sensors H-Bridge

11. Mounting GPS & Compass Beagle Board AVRs

12. HBridge + Voltage Regulator  GPS Compass UART Wheel Encoder Daughter board Sensors: Beacon, Ultrasonic, & Flex PCB Design

13. Motor Control Hardware : Wheel Encoders, H-Bridge, dedicated micro controller Software : Speed / PID Control Multiple speeds 1kHz–slowest speed ≈ 0.8 feet/second 3kHz–fastest speed ≈ 2.5 feet/second

14. Beagle Board Robot brain – high level control Python code GPS parsing Object avoidance

15. AVR serial coding for sensors powered with one 7.2V

16. GPS & RF 300 lines of Python code GPS equation estimates coordinates, distance, & direction on map RSSI equation to estimate distance of beacons 2 UART – 5V & 3.3V output

17. Sensors

18. Turtle’s Body Parts Mounted Code PCB Interface Beagle Board & AVR together Milestones

19. Budget Beagle Board $150 AVRs$105 GPS $50 Batteries $82 Sensors$78 Labor Cost$0

22. Website http://turtle.sdsu.edu