P16241: Autonomous People Mover Phase 3
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Integrated System Build & Test

Table of Contents

Team Vision for Integrated System Build & Test Phase

During this phase, the team was focused on a few different important topics:

PCB Design

In order to redesign the PCB, a number of different tasks had to be performed. Firstly, the key functions of the board were identified based on the team's desired functions and systems in place. With all these functions in mind, the circuitry for the board was then designed. The team then received input from multiple subject matter experts to identify any areas of concern. Lastly, the design was changed based on the subject matter experts feedback and sent to be fabricated and printed.

Screenshots of the PCB can be seen below:

PCB Top View

PCB Top View

PCB Bottom View

PCB Bottom View

PCB 3D View

PCB 3D View

Remote Control Mode

Also completed in this phase was remote control functionality. This was done by setting Arduino 1 to control the cart's subsystems. Then, communication was established between the remote control and a ROS node where the ROS node would send signals to the Arduino based on the input from the remote. This was then tested to ensure that constant, correct communication was established between the control and the subsystems.

The remote control can be seen below:

Speaktrum DX6i Remote Control used to control throttle, brake, and steering

Speaktrum DX6i Remote Control used to control throttle, brake, and steering

Vehicle Simulation

During this phase, the vehicle simulation model was looked into deeper to provide realistic, actual data for outputs of the cart based on certain inputs. This was done by first adapting the simulation to accept external input. Then obstacle detection and stopping was looked into to try and get the simulation to respond to obstacles in the path. The next point would be for the simulation to be able to avoid obstacles.

Below can be seen of some input from the simulation:

External Input for simulation

External Input for simulation

Ultrasonics

All seven ultrasonics were tested together. After passing the various tests, they were they put into the mount. The mount had been decided by the team and the customer to be more of a prototype mount just to collect data while a future phase will be responsible for constructing a more safe, reliable mount.

Pictures of the mount with the ultrasonics put into them can be seen below:

Top view of sonar mount with cameras in place

Top view of sonar mount with cameras in place

Front-Side view of sonar mount with cameras in place

Front-Side view of sonar mount with cameras in place

Microcontroller & Computer Communication

Originally, the team planned on using ROSserial for the communication between the microcontroller and the computer. When trying to implement this, many issues had occurred. These issues involved being that it was not very fast, reliability problems after approximately 10 minutes, and problems using Arduino Due in conjunction with it. Because of this, the team decided to use ROSdue, a custom solution built from scratch. This method used Arduino Serial and also allows the team to meet its requirements for communication. These requirements involve being fast, lightweight, and robust.

Technical Details

Risk and Problem Tracking

Functional Demo Materials

Plans for next phase

The plans for the next phase include:

For more information about the future of this project, please click here to see the remaining schedule for MSD II.


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