This page (revision-30) was last changed on 2020-07-17 09:18 by Murray Altheim

This page was created on 2019-12-23 06:53 by Murray Altheim

Only authorized users are allowed to rename pages.

Only authorized users are allowed to delete pages.

Page revision history

Version Date Modified Size Author Changes ... Change note
30 2020-07-17 09:18 9 KB Murray Altheim to previous
29 2020-05-09 22:45 8 KB Murray Altheim to previous | to last
28 2020-05-09 22:26 8 KB Murray Altheim to previous | to last
27 2020-05-09 22:26 8 KB Murray Altheim to previous | to last
26 2020-05-09 22:25 8 KB Murray Altheim to previous | to last
25 2020-05-09 22:25 8 KB Murray Altheim to previous | to last
24 2020-01-02 09:06 8 KB Murray Altheim to previous | to last
23 2020-01-02 09:02 8 KB Murray Altheim to previous | to last
22 2020-01-02 08:59 7 KB Murray Altheim to previous | to last
21 2020-01-02 08:55 7 KB Murray Altheim to previous | to last

Page References

Incoming links Outgoing links
SR 04
SR04

Version management

Difference between version and

At line 4 changed 2 lines
David has also suggested to me a [Build Sequence|BuildSequence] which is a pretty good action plan for anyone building robots. As someone who's had a bit of trouble focusing on getting my
robot going (there's just sooo much to learn!), his advice is greatly appreciated.
From David's description:
%%blockquote
__SR04__ is a small mobile robot suitable for exploring human habitats unattended.
It is controlled by a Motorola HC6811 microprocessor running in an M.I.T. 6.270 CPU card, similar to the commercially available "Handy Board." Two 12-volt DC gear-head motors maneuver the robot in a dual-differential drive configuration, balanced by a non-driven tail wheel caster and powered by a 12 volt 2.2 amp-hour sealed lead acid battery. Sensory input is provided by (in order of priority): front bumper switches, IR collision avoidance, stereo sonar ranging, photo detectors, passive IR motion detection, and shaft-encoder odometry.
%%
At line 7 changed one line
See also the links at bottom of this page.
!! Design
At line 10 changed one line
~[The following includes text and images from David Anderson's web site; kindly used with permission.]
~[The following text and images are from David Anderson's web site; kindly used with permission.]
At line 12 removed one line
----
At line 14 changed one line
!! Description:
[{Image src='attach/SR04/sr04-front-49-thumb.jpg' link='attach/SR04/sr04-front-49.jpg' caption='SR04 Front View (image used with permission)' align='right' class='imgFloatRight' }]
At line 16 removed 17 lines
[{Image src='attach/SR04/sr04-oblique-36.jpg' caption='David Anderson’s SR04 Robot' width='500' align='right' class='imgFloatRight'}]
__SR04__ is a small mobile robot suitable for exploring human habitats unattended.
It is controlled by a [Motorola HC6811 microprocessor|https://en.wikipedia.org/wiki/Motorola_68HC11] running in an [M.I.T. 6.270 CPU card|http://web.csulb.edu/~wmartinz/rssc/content/MS_11.html], similar to the commercially available "Handy Board." Two 12-volt DC gear-head motors maneuver the robot in a dual-differential drive configuration, balanced by a non-driven tail wheel caster and powered by a 12 volt 2.2 amp-hour sealed lead acid battery. Sensory input is provided by (in order of priority): front bumper switches, IR collision avoidance, stereo sonar ranging, photo detectors, passive IR motion detection, and shaft-encoder odometry.
The SR04 was conceived around the following very loose design criteria:
# Survive in a wide range of (cluttered) human environments autonomously and continuously, without getting stuck.
# Provide a robust and reliable platform for developing navigation and behavior software.
# Be entertaining and aesthetic for the local human population.
!! Design
[{Image src='attach/SR04/sr04-geometry.jpg' caption='SR04 Geometry' align='right' class='imgFloatRight' }]
At line 39 changed one line
The robot controller is a Motorola HC6811 microprocessor running in an M.I.T. 6.270 board. This card was developed for the introductory robotics course taught at M.I.T. It provides the HC6811 processor with 32k of battery-backed RAM, 32 eight-bit A/D channels, hardware 40kHz IR , 6 one-amp H-Bridge (L293) motor driver channels, an LCD readout, and some digital I/O ports for timer and output compare functions useful to robot builder-types.
The robot controller is a Motorola HC6811 microprocessor running in an M.I.T. 6.270 board. This card was developed for the introductory robotics course taught at M.I.T. It provides the HC6811 processor with 32k of battery-backed RAM, 32 eight-bit A/D channels, hardware 40khz IR , 6 one-amp H-Bridge (L293) motor driver channels, an LCD readout, and some digital I/O ports for timer and output compare functions useful to robot builder-types.
At line 44 removed 2 lines
[{Image src='attach/SR04/sr04-front-49-thumb.jpg' link='attach/SR04/sr04-front-49.jpg' caption='SR04 Front View (click to enlarge)' align='right' class='imgFloatRight' }]
At line 94 changed one line
~[Further descriptions of the SR04's sensors and behaviours are available from David Anderson's [SR04|http://www.geology.smu.edu/~dpa-www/robots/sr04/sr04.html] web page.]
~[Further descriptions of the SR04's sensors and behaviours is available from
David Anderson's [SR04|http://www.geology.smu.edu/~dpa-www/robots/sr04/sr04.html] web page.]
At line 105 removed 6 lines
* [IMU Odometry|http://geology.heroy.smu.edu/dpa-www/robo/Encoder/imu_odo/]: Tracking the robot's position in X,Y,theta with wheel encoders and wheel encoders plus gyroscope. Section II.B details the classical odometry algorithm for a two wheel differentially driven platform:
* [The DPRG Outdoor Challenges: Navigation|http://www.geology.smu.edu/~dpa-www/robots/dprg/outdoor]: Navigating to a waypoint target using the robot's location as collected by odometry as described in the previous paper
* [Math Routines for the DPRG Outdoor Robot Challenge|http://www.geology.smu.edu/dpa-www/robo/challenge/math.html]
This page (revision-30) was last changed on 2020-07-17 09:18 by Murray AltheimTop