AUTONOMOUS
TRACKING
ROBOT
Team 7
Victor Abreu
Thomas Schreifer
Brent Eisenmann
Matthew Beutler
Peng Xie
Hisham Hassan
Sponsor: ECE Department
Faculty Advisor: Jian Ren
OVERVIEW
Project Description
 Prototype Design
 Hardware
 Software
 Budget
 Risk Analysis
 Summary

PROJECT DESCRIPTION
Robotic vehicle to identify and follow a marked
target
 Close within certain distance
 Communication capability



Data Documentation
Additional Requirements
Structurally sound body
 Self powered
 Zero Turning Radius
 Manual Shutdown

PROTOTYPE DESIGN

Tank Design
Zero turn radius
 Easily customizable
 Structurally Sound
 Greater terrain
navigation

HARDWARE

Tamiya Dual Motor Gearbox
3V operating voltage
Free run motor shaft speed:
12300rpm
 Free run current: 150mA
 Stall current: 2100mA



Devantech SRF05 Ultrasonic
Range Finder




1cm-4m Range
43mm x 20mm x 17mm
3-4cm Resolution
Blue-tooth Joystick


Bandwidth 2400-2480MGHz
Class 2: 10m range indoors
HARDWARE CONTINUED

D-Link Wireless Enabled Webcam



Tank Body



Stream to laptop
Wi-Fi
 Bandwidth up to 5GHz
 36m range indoors
Chassis
Treads
Arduino Uno Board




Specifications
 14 digital input/outputs
 6 analog inputs
 16MHz ceramic resonator
 USB connection
 Power jack
 ICSP header
 Reset button
2.7”x 2.1”
Compatible with wifi/bluetooth
Easily programmable
HARDWARE CONTINUED

Power usage and protection

Lithium Ion






11.1V (working)
12.6V peak
7.5V cut-off
2400mAh capacity
Protection Circuit Module (10A)
installed
 Overcharge (>12.6V)
 Overdischarge (<7.5V)
 Over drain (>10 Amp)
 Short Circuits
Manual Shutdown
SOFTWARE

Microprocessor Programming

Arduino Open Source Software

Large community support for similar applications
Movement Control and Obstacle Avoidance
 Calculating and Transmitting through Bluetooth:

Distance
 Via Ultra-sonic Sensors
 Speed
 Via Sharp Infrared Sensor
 Runtime
 Power Usage

SOFTWARE CONTINUED

Target Tracking

Processing video using OpenCV Library


Open Source Computer Vision (OpenCV) Library
 Real-time computer vision
 Multilanguage interfaces
 Multiplatform supports
 Built-in optimized algorithms
 Widely adopted all around the world
User Interface
Receiving streamed video from the robot via Wi-Fi
 Displaying data transmitted from the robot via Bluetooth
 Target selecting and user control of the robot
 Mac OSX and Windows support

BUDGET REQUIREMENTS
Budget
Part
Cost
Robot Body
Tamiya Double Gearbox
Tamiya Track and Wheel Set
Tamiya Universal Plate
$14.48
$7.84
$5.33
Data Acquisition
Wireless Wifi Enabled Webcam
4x Ultrasonic Range Finder
Sharp Infrared Sensor
$58.00
$118.00
$14.95
Microprocessor and Electronics
Arduino Uno Board
Motorshield for Arduino
$20.95
$24.99
DFRobot Serial Bluetooth Module
$21.90
Li-Ion 18650 Battery + Charger
$69.90
Total
$328.69
RISK ANALYSIS

Mobility Difficulties
Ledges
 Obstacles
 Communication range


Tracking Errors
Target loss
 Wrong Target


Battery Issues
Combustion
 Power issues

TIMELINE
SUMMARY
Tank style robotics
 4/6 Devantech SRF05 Ultrasonic Range Finder
 Tamiya Double Gearbox
 Bluetooth Remote Controller
 Wifi Webcam
 Arduino UNO Microprocessor
 Target Tracking Robot
 Data Storage



Lithium Ion (Li-Ion 18650)
Protection Circuit Module (10A) installed
QUESTIONS??