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Autonomous Construction Vehicle (ACV)

Autonomous Construction Vehicle (ACV). Jason Taylor IMDL - Spring 2007 April 16, 2007. Integrated System. Mavric –IIB Microcontroller Used for primary robot controls MAX3000 CPLD Used to multiplex PWM signals generated by the Mavric –IIB

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Autonomous Construction Vehicle (ACV)

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  1. Autonomous Construction Vehicle (ACV) Jason Taylor IMDL - Spring 2007 April 16, 2007

  2. Integrated System • Mavric –IIB Microcontroller • Used for primary robot controls • MAX3000 CPLD • Used to multiplex PWM signals generated by the Mavric –IIB • Used to generate “hold” signals for servos not currently being used • 555 Timer Circuit • Used to generate a 100us clock signal for the CPLD

  3. Platform • 4 joint crane with a gripper • Used for placing blocks • Roller Bed • Used for bringing pallets to crane • Pallet Dumper • Used for dumping pallets • Human Sensor • Used for finding and tracking movement

  4. Design vs. Completed

  5. Actuation • Actuation consists of 2 DC motors and 3 casters • 2 geared DC motors are used to drive the robot where it needs to go • Servos are used for the arm, the gripper, the dump, and for tracking • Arm Actuation • 3 Hitec HS-422 Servos • 2 Hitec HS 755HB ¼ Scale Servos • Rollerbed Actuation • 1 Hacked Hitec HS-422 Servo • Dump Actuation • 1 Hitec HS-322 Servo • Tracker Actuation • 1 Hitec HS-322 Servo (horizontal movement) • 1 Hitec HS-81MG Servo (vertical movement)

  6. Sensors • SRF05 sonic rangefinders • Used for main obstacle avoidance • Used to measure distance from human • GPD12 • Used for wall following • Hamamatsu P5587 Photoreflectors • Used for position sensing • CDS cells • Used for light detection • PIR sensors • Used to detect and track motion

  7. Behavior • Drive • Drive mode consists of dynamic obstacle avoidance • Build • Build mode consists of wall following and placing blocks to build a structure • Roll • Roll mode consist of moving up the next pallet of blocks when the present pallet is empty • Dump • Dump mode consists of going to an empty area and dumping the empty pallets out • Track • Track mode consists of finding movement and searching for objects in range • Attack • Attack mode combines the track mode with a slightly “altered” build mode

  8. Experiments • Building • Success laying 3 blocks in a row • Driving in a straight line • Having trouble building a straight wall • Having trouble judging where blocks need to be placed

  9. http://plaza.ufl.edu/jason342

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