201 AEE Embedded Microprocessors Group Project (EMGP): Design an intelligent Navigation Robotic vehicle
201 AEE Embedded Microprocessors Group Project (EMGP)
CW 1: Design an intelligent Navigation Robotic vehicle TASK
The tasks are chosen to enable you to get experience in the design, implementation and testing of real-time systems.
Task description
You will need to reference the task sheets you have been given in your lab/lecture classes and which are available on the module area in Blackboard.
Design, implement and test a solution to the following problem:
You will be using a PIC18F4550 microcontroller board or any assigned MCU development kit from the lab to control a Robotic vehicle consisting of two stepper motors that control the locomotion aspect of the vehicle via a Darlington driver. A Sharp Proximity Sensor will be used to scan for the presence of an obstacle within a specified area of vision. A Photo-Reflective Optical sensor will be used for sensing marked points along the vehicle’s path. A single 7-segment LED and a buzzer will also be used that will provide visual and audible feedback of system progress.
The laboratory aspect of the assignment is of a four, 3-hour session duration.
The following tasks must be completed by the group:
1. DesignanintelligentNavigationRoboticvehiclethatperformsthefollowingtasks:
- On system initialization the vehicle should move in a forward direction in a straight path. The locomotion for the vehicle should be implemented by using two stepper motors driven in a full step mode by using Port of the micro interfaced with a stepper motor driver.
- Thepaththatthevehiclewouldfollowismarkedbyanumberofmarkersimplementedby using strips of black tape. These markers are placed at random intervals along the path.
- Thevehicleshouldbeabletodetectandcountthesemarkers.Thesensingofthesemarkers should be implemented by using a Photo-Reflective Optical sensor mounted at an appropriate position underneath the vehicle.
- Every time one of these markers is encountered the system should respond by giving an audio signal through a Piezo Buzzer. A visual response should also be given by a single 7-segment LED.
- Everymarkerencounteredbythevehicleinitspathshouldbecountedandtheappropriate accumulated value of these should be given as an audio and visual feedback.
- An obstacle is placed at a random point along the vehicle’s path. If the vehicle senses this object by a front mounted Sharp Proximity sensor at a distance of 25 cm or less the vehicle should initially pause for a short duration and then continue by reversing along the path while counting down every marker encountered from the previously counted value and should also provide the appropriate audio and visual feedback by sounding/flashing the counted down value of markers. When the vehicle arrives at the last marker, (i.e. the initial starting position) the vehicle should stop. At this point you have your individual option of demonstrating the task completion by using an audio – visual feedback.
There are five scenarios that the prototype will be tested (with regards to the obstacle navigation):
- Forward direction with no obstacle.
- Forward direction with obstacle. Vehicle to move back and turn either left or right.
- Forward direction with obstacle in front and on the left. Vehicle to move back slightly
(optional) and turn right and proceed to move forward thereafter.
- Forward direction with obstacle in front and on the right. Vehicle to move back
slightly (optional) and turn left and proceed to move forward thereafter. 6
Forward direction with obstacle in front, on the left and on the right. Vehicle to move back slightly and clear from all obstacles and rotate 180 degree and continue to move forward thereafter. The counter of the 7-segment during the forward path (up count) and reverse path (down count) will be counted. Upon reaching zero it will stop the vehicle. (bonus feature).
- Thestudentistodesignacompletehardwarecircuitandshouldtakeintoaccountthevarious blocks:
- Thesteppermotorsanditsdrivercircuit
- 3proximitysensors–forfront,leftandright
- 1 optical sensor (to count the back/white strip on the ground)
- 17-segmentLED
- 1buzzerwithdrivingtransistor.
The development kit will be represented as a module in the completed hardware design and do not need to design the detailed PIC18F4550 MCU circuit. Connector provisions should be made for connecting your circuit to the development kit module.
A schematic must be captured, showing clear details of all parts of the schematic and to be included in your report.
- APCBofyourdesignshouldbeincludedinyourreportshowingthePCBlayer(s)andthe3Dview. The size of your PCB design should not exceed 15 cm x 15 cm. You have a choice of a single or double layer board design. All selected PCB component can be either Through Hole or Surface Mount Technology type. Your PCB should be a 0.8 mm FR4 laminate, 1 ounce copper. The PCB (including the 3D view) and Gerber file must be captured in your report.
- AfulllistingoftheBillOfMaterials(BOM)shouldbeincludedinyourreportwithfullreferencesof component supplier's order codes and prices. All components chosen should be ROHS approved. An overall cost of your design should be given including your PCB manufacturing quote. Your BOM should NOT include System tools, Development tools or Mechanical components in your overall project cost. Only provide the BOM for your PCB manufacture, ALL components mounted on your PCB, the external proximity sensor the external Photo Reflective sensor, the Piezo buzzer the Lithium Ion or Lithium Polymer battery and the 2 steppers.
5. Your functional demo of your design should be uploaded as a YouTube video clip and a link to this should be provided in your report. A staff signed note that shows the group name and group member names should be shown in your video clip.
6. Only one group report should be submitted by one team member. This could be a PDF together with a print copy of the report.
The assignment report file name should begin with the group's name and the up-loader's surname. The other group members should upload a cover sheet with the filename: coversheet followed by the group's name. The cover sheet template is provided on Blackboard.
GROUP MARK
- Introduction. This will set the scene for the report, providing information on how you planned your work and what objectives you were attempting to meet. A Gantt chart should be included in your report showing your planned activities against time. You should also include a Project Management and Risk Assessment discussion.
- The Main Body of the report will comprise the following sections:
- Design & Implementation [15 marks]: Hardware and Firmware document the design process in writing. Implement the design running on the PIC microprocessor in the lab. All relevant input/output interfaces need to be implemented. Your code must be uploaded to the module web and all implementation decisions need to be described. The use of digital photographs and screenshots of the hardware/software set-up is permitted as part of your explanation of the implementation. Proteus simulation runs of key aspects of your design should be included.
- Component selection / Cost analysis [Hardware 5 marks]: used and provide a cost analysis. Identify component suppliers and provide the corresponding stock number order codes. Create a Bill Of Materials (BOM) list using Proteus or other means. Make sure that your components are ROHS compliant. Consider the environmental implications and health and safety issues that some of your design components might have.
- Software Flowchart [Firmware 5 marks]. Firmware to develop an integration level flowchart to facilitate and help in the development of the overall firmware program.
- Prototype & Modular Testing [Hardware 20 marks, Firmware 20 marks]: A prototype has to be built and it must be able to demonstrate the intended application of this robotic vehicle to navigate, sense and make decision during the demo. Document the prototype build in your report. Independent verification of hardware and firmware/simulation to ensure that it is working before the actual integrated testing.
- Integrated Testing / Validation [25 marks]. Document the test methodology that you have followed for your design. This must describe what tests you decided to do and why you decided to make them. You also need to document calibration procedures, debugging issues and corresponding test results.
- Teamwork [10 marks]
Emphasis is also given to evaluate the cohesiveness of the team, and able to demonstrate
the ability to work together and able to discuss issues together to resolve project issues.
- Poster and Q&A [10 marks]
The team has to provide a one-page A0 poster for presentation (no print needed). Marks will be given on the details, clarity, sufficient information, presentation and Q&A. .
- You Tube Video Recording Upload [5 marks]
