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 removed 5 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.
See also the links at bottom of this page.
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[{Image src='attach/SR04/sr04-oblique-36.jpg' caption='David Anderson’s SR04 Robot' width='500' align='right' class='imgFloatRight'}]
[{Image src='attach/SR04/sr04-oblique-36.jpg' caption='David Anderson’s SR04 Robot' align='right' class='imgFloatRight'}]
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The SR04 was conceived around the following very loose design criteria:
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# 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.
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[{Image src='attach/SR04/sr04-geometry.jpg' caption='SR04 Geometry' align='right' class='imgFloatRight' }]
[{Image src='attach/SR04/sr04-front-49-thumb.jpg' link='attach/SR04/sr04-front-49.jpg' caption='SR04 Front View' 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