This page (revision-27) was last changed on 2021-08-30 01:49 by Murray Altheim

This page was created on 2019-12-23 11:18 by Murray Altheim

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Version Date Modified Size Author Changes ... Change note
27 2021-08-30 01:49 8 KB Murray Altheim to previous
26 2021-08-30 01:47 8 KB Murray Altheim to previous | to last
25 2021-04-17 10:32 6 KB Murray Altheim to previous | to last
24 2020-03-01 01:03 6 KB Murray Altheim to previous | to last
23 2020-03-01 01:02 6 KB Murray Altheim to previous | to last
22 2020-02-29 04:06 5 KB Murray Altheim to previous | to last
21 2020-02-29 03:49 5 KB Murray Altheim to previous | to last

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KR 01
KR01

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At line 9 added one line
(you can click to enlarge images on this page)
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# to investigate, test and use the latest in sensor technology in order to develop more complex behaviours
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A fourth item has been added to David's list, as it's been almost twenty years since his SR04 was built and the hobbiest market for sensors has exploded, from postage stamp sized LiDAR distance sensors (that return values in millimeters) to AI-backed camera-as-sensor products (that can recognise objects, colors, QR codes, etc.), all well under $100. This was not possible even five years ago.
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* OSEPP Tank Kit chassis with either silicon tank treads or four silicon tires
* four OSEPP 9.0 volt 185 RPM motors with 1:45 gear ratio
* modified OSEPP Tank Kit chassis with either silicon tank treads or four silicon tires
* four OSEPP 9.0 volt 185 RPM motors with 1:45 gear ratio and hall effect motor encoders
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* [Pixy2|https://pixycam.com/pixy2/] Object Recognition Camera (camera-as-sensor)
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!! Sensors
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! Basic Obstacle Avoidance Sensors
[{Image src='attach/KR01/kr01-ir-plan-1.jpg' link='attach/KR01/kr01-ir-plan-1.jpg' caption='Mini TFT Display on the KR01' align='right' width='400' class='imgFloatRight'}]
The KR01 robot has __port__, __center__ and __starboard__ bumpers. (bumpers will be defined in a different and as-yet unspecified ''Behaviour'').
It also has __port-side__, __port__ (oblique), __center__, __starboard__ (oblique), and __starboard-side__ analog infrared sensors (Sharp GP2Y0A60SZLF 10-150cm), each with a range of about 1.5 meters. The side sensors face forward at 45° (rather than 90°, as per recommendations from the DPRG), the oblique sensors are 25° off center.
! Behaviour Plan
* The __Roam__ Behaviour uses the center IR and will slow the robot down beginning from 100% target velocity at 50cm to a full stop at 25cm. This adds a lambda function to both motor controllers to limit the top speed as a function of distance. Currently there is no recovery from the full stop, i.e., once stopped some other undefined behaviour will need to be triggered to back up or otherwise avoid the obstacle).
* The __Avoid__ (maybe "Swerve") Behaviour will add a lambda function to both motors that will progressively alter the steering (difference between the motors) as a function of distance based on the distance and difference of the port and starboard oblique sensors.
* The side infrareds have two modes: __Wall Follow__ or __Avoid Side__. In __Wall Follow__ mode it will attempt to keep the robot at a fixed distance from a perceived wall on either side. In __Avoid Side__ mode it will act similarly to the oblique sensors and attempt to push the robot away from the wall (likely at a greater distance than when in Line Follow mode), with the amount of push inversely proportional to distance.
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The chassis currently uses a Pimoroni ''[HT0740 40V / 10A Switch Breakout|https://shop.pimoroni.com/products/ht0740-breakout]'' to control power to the sensors, to that the robot can go into a "low power" mode. There is a manual bypass switch in order to use the sensors without the 10A switch control.
The chassis uses the __OSEPP Tank Kit__ as its basis, using an additional pack of beams and an additional pair of motors. The weight of the robot precludes using the tank treads so it uses four of the black silicon tires instead.
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The chassis currently uses a Pimoroni ''[HT0740 40V / 10A Switch Breakout|https://shop.pimoroni.com/products/ht0740-breakout]'' to control power to the sensors, so that the robot can go into a "low power" mode. There is a manual bypass switch in order to use the sensors without the 10A switch control.
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The KR04 has a lot of features, and therefore costs. The current expenditures, which includes sensors, components and hardware that may possibly not even get used (hey! it's an ''experiment''), is probably nearing NZ$1000.
The KR01 has a lot of features, a lot of experimental features, and therefore costs. The current expenditures, which includes sensors, components and hardware that may possibly not even get used (hey! it's an ''experiment''), is well over
NZ$1000. But a lot of those experiments proved essential for the robot's operation, and many of them aren't even currently mounted on the robot. Some were ideas that didn't pan out, or ideas that might be re-mounted on the robot sometime in the future.
This page (revision-27) was last changed on 2021-08-30 01:49 by Murray AltheimTop