Micro Contr Based Autonms Navigtn Sys (1)

7/29/2019 Micro Contr Based Autonms Navigtn Sys (1)

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A mobile computer situated

in the real world interacting

with the environment

through sensors andactuators in order to

perform various intelligent

tasks in unstructed

environment withoutconstant attention.

DEFINITION:

(AUTONOMOUS) ROBOT


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Properties of autonomous robot-

Gain information.

Working capability for a long period.

Can move either all or part of itself .

Avoids harmful situations.


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MAJOR COMPONENTS

OF SYSTEM

1. SENSORS

2. BODY: physical chassis that holds other parts

3. ACTUATORS: motors

4. A BRAIN : controllers


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WHAT IS SENSING ?

o Collect information about the world

o Sensor - an electrical/mechanical/chemical

device that maps an environmental attribute to a

quantitative measuremento Each sensor is based on a transduction

principle - conversion of energy from one form

to another

o Also known as transducers


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KINEMATICS OF TWO WHEELED

SYSTEM


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Uses independent linear velocities: for the left

wheel and for the right wheel to move to a

desired point (x,y) and desired orientation.

The relation between the linear v(t) and angular

(t) speeds depend on the linear velocity of leftand right wheel

;


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ACTUATORS

Mechanical device for moving or controlling amechanism or system

An actuator is typically a mechanical device that

takes energy and converts that into some kind ofmotion

Applications:

oCar steeringoUsed in robotics

oMoves airplanes elevator up and down


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The most common actuator in Robotics is DCMotors.

DC Motors converts electrical into mechanicalenergy.

DC Motors are best at high speed and low torque.Advantages

Easy to understand design

Easy to control speed

Easy to control torque

Simple, cheap drive design

DC MOTOR


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MODELING OF THE DC MOTOR

The motor torque M(t)[Nm] is related to the

armature current i(t)[A], by a constant K [Nm/A]

The Back emf is proportional to the angular

velocity of DC motor


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Based on the Newtons law combined with theKirchoff s law we can write the equation

The transfer function of system from the inputvoltage u(t) to angular velocity (t) is as follows


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SIMULATION

The imitation of the operation of a real-world

process or system over time.

The act of simulating something first requiresthat a model be developed.

The model represents the system itself, whereas

the simulation represents the operation of the

system over time.


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Assembling products

Handling Dangerous Material

Inspection Polishing and Cutting

Tasks involving danger to

human or dangerous work Spray finishing

APPLICATIONSINDUSTRIAL APPLICATIONS


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Garden

maintenance

Sweeping and

Cleaning

Health care

Agriculture &

Farms

NON INDUSTRIAL APPLICATIONS


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MILITARY APPLICATIONS

The two most prominent Unmanned AerialVehicles (UAVs) are the US Air Forces Predator

and Global Hawk.

Autonomous vehicles are also being used in thesea by the Navy and on the ground by the Army.

Autonomous air vehicles are by far the most

sophisticated autonomous vehicles today.


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CONCLUSION

The issues involved with navigation and controlof an autonomous vehicle have been addressed.

Sensor is used for sensing the location of the

system.

The simulation model of DC motor will be

combined with other simulation models to get

the required system.


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REFERENCES

[1] Dariusz Marchewka and Marcin PitekWheeled mobile robot

modeling aspects AGH University of Science and TechnologyFaculty of Electrical Engineering, Automatics, Computer Science

and Electronics, Department of Automatics, Mickiewicza 30 av. 30-

059 Krakw, Poland.

[2] Gopal.M, Control System and Design, Tata Mc Graw-Hill

Publishing Company Limited N. Delhi (1997).

[3] Mittal R.K , Nagrath I.J, Robotics and Control Tata Mc Graw-

Hill Publishing Company Limited N. Delhi (2003).

[4] Ong Yin Chee, Mohamad Shukri b. Zainal Abidin, design and

development of two wheel balancing robot, 4th Student Conferenceon Research and Development (SCOReD 2006), Shah Alam,

Selangor, MALAYSIA, 27-28 June, 2006


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WITHOUT SOME GOAL ,SOME EFFORT TO

REACH IT, NO ONE CAN LIVE

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Micro Contr Based Autonms Navigtn Sys (1)