Autonomous Sumo RobotAutonomous Sumo Robot

By Scott Skousen

AgendaAgenda

Brief description of sumo robot contestBrief description of sumo robot contestRobot specificationsRobot specificationsProject goalsProject goalsHardware designHardware designSoftware designSoftware designPreliminary cost estimatePreliminary cost estimateSchedule for completionSchedule for completionQuestionsQuestions

What is Robot Sumo?What is Robot Sumo?

International International competitioncompetitionObjective is to remain Objective is to remain inside the ring while inside the ring while attempting to push or attempting to push or trick your opponent trick your opponent out of the ringout of the ring

Robot SpecificationsRobot Specifications

AutonomousAutonomous20cm x 20cm size limit (L x W)20cm x 20cm size limit (L x W)Mass less than 3kgMass less than 3kgMust start operation 5 seconds after Must start operation 5 seconds after beginning of matchbeginning of matchMust not damage ringMust not damage ringNot designed to damage other robotNot designed to damage other robot

Goals for ProjectGoals for Project

Robot must not go outside of the ring on Robot must not go outside of the ring on its ownits ownMust actively seek out opponentMust actively seek out opponentTough enough to survive competitionTough enough to survive competitionAble to win reasonable pushing contestAble to win reasonable pushing contestBuilt as cheap as possible while remaining Built as cheap as possible while remaining competitivecompetitive

Robot ChassisRobot Chassis

Stomper Viper

Predator Terminator

Basic Hardware Block diagramBasic Hardware Block diagram

ObjectDetectors

Line Detectors

MicroController

MotorDriver

Motors

Motors and WheelsMotors and Wheels

6V gear head motor6V gear head motor100mA 100mA –– 2.0 Amps2.0 Amps186 rpm186 rpm

Green dot compound Green dot compound that sticks to the ring that sticks to the ring like gluelike glueGreat tractionGreat traction

Motor DriversMotor Drivers24 Amps24 AmpsVery easy to useVery easy to useExpensive ($69.95)Expensive ($69.95)Need two of themNeed two of them

3 Amps3 AmpsPWM controlPWM controlCheap (free)Cheap (free)Need six of themNeed six of them

Hitec SP-560

Allegro 3959 PWM Motor Driver

Object DetectionObject Detection

InfraredInfrared UltrasonicUltrasonic

IR Object DetectionIR Object DetectionProsPros

CheapCheapEasy to useEasy to useGood range (4 feet)Good range (4 feet)

ConsCons

Sensitive to changes Sensitive to changes in ambient lightin ambient lightReadings vary with Readings vary with color of objectcolor of objectAffected by heat of Affected by heat of objectobjectMain regret of Main regret of previous designersprevious designers

Ultrasonic Object DetectionUltrasonic Object Detection

ProsPros

ReliableReliableGood range (9 feet)Good range (9 feet)Easy to useEasy to use

ConsCons

ExpensiveExpensiveMore programming More programming involvedinvolvedNot great with “fuzzy” Not great with “fuzzy” objectsobjects

Line DetectionLine Detection

Extremely accurateExtremely accurateAdjustable for varying Adjustable for varying light conditionslight conditionsEasy to useEasy to use

Microprocessor RequirementsMicroprocessor Requirements

Needs at least 16 I/O pinsNeeds at least 16 I/O pinsEnough memory for program storageEnough memory for program storagePWM output for motor controlPWM output for motor controlEasy to program (no special programming Easy to program (no special programming devices)devices)InexpensiveInexpensive

Microprocessors ConsideredMicroprocessors Considered

PicPic68HC1168HC11Basic Stamp 2pBasic Stamp 2p

Basic Stamp 2p24Basic Stamp 2p24

Has 16 I/O pinsHas 16 I/O pinsPWM output for motor controlPWM output for motor controlPlenty of program memory (16K)Plenty of program memory (16K)Only need a serial cable for programmingOnly need a serial cable for programmingPolling capabilitiesPolling capabilitiesAlready have oneAlready have one

Hardware Block DiagramHardware Block DiagramLeft

Drivers

BS2P

IR Sensors

UltrasonicSensors

Basic StampMicrocontroller

Motors

RightDrivers

System LayoutSystem Layout

Basic Stamp

Ultrasonic SensorsMotor Drivers

IR Line Detectors

Top View

BS2P

DB9

System LayoutSystem Layout

MotorsInside

Chassis

Batteries

DB9Connection

IR LineDetectors

UltrasonicSensors

Microcontroller And other electronics

Side View

ScoopScoop

Drop scoop after 5 second delay

Software AlgorithmsSoftware Algorithms

Search and attackSearch and attackSearch and runSearch and runRandom movementRandom movement

Search and AttackSearch and Attack

Useful when opponents robot is weakUseful when opponents robot is weak

Locate opposing robotLocate opposing robotCharge robotCharge robotAttempt to push out of ringAttempt to push out of ring

Search and Attack Flow ChartSearch and Attack Flow Chart

Search and RunSearch and Run

Useful when overpowered by other robotUseful when overpowered by other robot

Locate opponentLocate opponentRun awayRun awayHope that other robot makes a mistake Hope that other robot makes a mistake and falls out of ringand falls out of ring

Search and Run Flow ChartSearch and Run Flow Chart

Random MovementRandom Movement

Used when object detectors aren’t workingUsed when object detectors aren’t working

Move forward until line is detectedMove forward until line is detectedTurn predetermined amountTurn predetermined amountMove forward until line is detectedMove forward until line is detected

Random Movement Flow ChartRandom Movement Flow Chart

Which Algorithm?Which Algorithm?

Decided to use all threeDecided to use all threeWill load program based on opponentWill load program based on opponent

Preliminary Cost EstimatePreliminary Cost Estimate

$2.44$0.614DigikeyMolexWM-4201-ND3 pin connectors for IR sensor

$1.08$0.274DigikeyMolexWM-2001-ND3 pin header for IR sensors

$3.04$0.764DigikeyMolexWM-4202-ND4 pin connectors for ultrasonic

$1.32$0.334DigikeyMolexWM-2002-ND4 pin headers for ultrasonics

$8.76$1.466DigikeyMill-MaxED58243-ND24 pin sockets for motor driver

$1.73$1.731DigikeyMill-MaxED58246-ND24 pin socket for Basic Stamp

$79.00$79.001ParallaxParallaxBS2P24Basic Stamp BS2P

$19.50$3.256Allegro MicroAllegro Micro.A3959Motor Drivers

$59.80$14.954AcronameOptekSLD-01IR Line Sensor

$107.80$26.954AcronameDevantechSRF04Ultrasonic Sensor

$18.00$6.003LynxmotionLynxmotionHUB-01Hubs

$54.00$18.003LynxmotionLynxmotionTSR-01Delux Sumo Tires

$114.00$19.006LynxmotionHsiangGHM-01Gearhead Motors

$25.00$25.001LynxmotionLynxmotionCP-01Predator Chasis

TotalCostQtyVendorManufacturerPart NumberDescription

Preliminary Cost EstimatePreliminary Cost Estimate

$561.92Total

$18.99$18.991Radio

ShackRadio Shack23-440Battery Charger

$27.98$13.992Radio

ShackNikko23-3317.2 Volt Battery

$5.00$5.001Home

DepotN/AN/AMisc screws

$3.89$3.891Radio

ShackN/AN/AWire

$2.99$2.991N/AN/APlexiglass 1'x1'

$3.98$1.992Radio

ShackRadio Shack276-150PC Board

$1.68$0.842DigikeyLumex67-1316-NDPC mount LED

$1.94$1.941DigikeyAMPA23305-NDDB9 connector

TotalCostQtyVendorManufacturerPart NumberDescription

Gantt ChartGantt Chart

30Test and debug11

40Complete final code10

2Retest after mounting9

30Mount HW to chassis8

2Test motor drivers7

2Test ultrasonics6

2Test IR sensors5

3Write test code4

15Assemble test circuits3

3Purchase parts2

40Detailed HW design1

FTHWTMFTHWTMFTHWTMHoursTask NameID

Week of Dec 30Week of Dec 23Week of Dec 16

Gantt ChartGantt Chart

30Test and debug11

40Complete final code10

2Retest after

mounting9

30Mount HW to

chassis8

2Test motor drivers7

2Test ultrasonics6

2Test IR sensors5

3Write test code4

15Assemble test

circuits3

3Purchase parts2

40Detailed HW design1

FTHWTMFTHWTMFTHWTMHoursTask NameIDWeek of Jan 20Week of Jan 13Week of Jan 6

??Questions????Questions??