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

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Page References

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SR 04
SR04

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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.
%%
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See also the links at bottom of this page.
!! Design
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~[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.]
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!! 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' }]
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[{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' }]
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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.
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[{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' }]
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* [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