Micromouse Presentation

Ng Beng Kiat Taiwan2009
1
Introduction
Does not cover microcontroller
Demo
Body design Physics
Sensor & Alignment
PID control --
Speed Profile
DC Motor sizing
DC Motor driver
Battery
Search Algorithm???

2
Photo of top and bottom of Min5

3

Minimummechanical design & construction
PCBused as robot body ()
PCB is tough and strong
Good soldering to withstand crash
Sensors must be well supported (hot glue )

4
DEMO
5
1.0 Body Design Physics ()( )

Centre of gravity & weight transfer
Moment of inertia ()
Robot weight () heavier or lighter?
Robot wheel () bigger or smaller?

6

1.1 Centre of gravity & weight transfer (&)

When Robot is not accelerating/decelerating, all weight is on tires
If there is no weight on tires -> no grip
Acceleration ()
()
High c.g.
x
d
Weight on tire
= (robot weight)(d-x)/d
Reaction ()
Mouse weight
Resultant force

Fig 1: Weight transfer when accelerating
weight transferred here

7

Lighter or slimmer motors to lower c.g.
More weight on tires, hence more grip for acceleration
Resultant force acts through c.g.
acceleration()

Lower c.g.
x
d
Weight on tire
= (robot weight)(d-x)/d
reaction
Resultant force
Fig 2: Weight transfer when accelerating (low cg)
x is smaller
8

Stepper motor based micromouse has high c.g.
Has a higher tendency to roll over if cornering at high speed.
()
Always keep the robot c.g. as low as possible

Make robot as wide as possible ()
Make your robot like F1 car
Fig 3 : Weight transfer when cornering()
Centrifugal force
= (vv)/(2r)
Resultant force
9
1.2 Moment of inertia ()

High moment of inertia
motor
r
I = mr
2

m = motor weight
r
motor
Low moment of inertia
10
When moment of inertia is high, rotational acceleration () is
reduced for the same torque .
Torque = I (F = ma)

() = ()

Keep heavy parts like motors, battery etc as close to robot centre as possible
()()
If moment of inertia is high, stronger motor is required, -> bigger battery
too!
11

1.3 Robot weight ()

Question : Does a heavier mouse provides more acceleration (has more grip
)?
Question: ()?

Force (Newton) = mass(kg) acceleration(m/s
2
)

12

Force available to propel the robot forward depends on motor power
and friction force .

If motor is powerful enough, then friction is the limiting factor ()

Friction force = F
N
u
u = coefficient of friction
F
N
= mass g
g = 9.8 m/s
2

tire
13
If motor exerts a force greater than friction force, tires will skid ().

To prevent skidding, driving force < friction force

o Friction = F
N
u
= mass g u
o Therefore acceleration limit = gu

o If u=0.7, then acceleration limit is about 7m/s
2
.
u = 0.77m/s
2

Acceleration is independent of mass. Limited by tires.

Keep robot weight low -> reduce motor size -> reduce battery
capacity.
14

1.4 Robot wheel

Question : A bigger wheel or a smaller wheel?

Tire friction is reduced by dirt ()

Clean tires before run

A smaller wheel would need to rotate more times for the same distance
o Pick up more dirt()
o If maze if dirty, performance will be affected

Bigger wheels raise the c.g. ()
15

Weight of wheels and shaft affect the robots c.g.
Keep wheels & shaft as light as possible
Use light and thin material if possible
Lower c.g. higher c.g.
Smaller wheel, lower c.g. Bigger wheel, lower c.g.
16

Big wheel will roll easily over steps or humps(
)
Hump or step Hump or step
17

Wider wheel will also be less affected by unevenness. (
)
On a flat and clean surface, tire diameter and width has negligible impact on
performance. (
)
Too wide and its hard to turn

A bigger surface allows the wheel to
ride over unevenness
18
1.5 Four wheel drive ?

During acceleration, weight is transferred to back wheels (
)
During deceleration, weight is transferred to front wheels
Good for straight acceleration/deceleration ()
Complex and hard to build ()
My dream mouse !!!
c.g.
x
More weight
Less weight
acceleration
19
1.6 Skid Pads
Skid pad (Teflon)
Must be rocking
1mm
Wheels on floor
Wheels hanging in
the air
20
2.0 Sensors & Alignment

Side sensor

Front sensor

Diagonal sensor

Figure: Mouse sensors layout
receiver
transmitter
shield
21
2.1 Sensor circuit and operation

Left and right front sensors pulsed separately to avoid interference
Figure : Transmitter circuit diagram

IR LED
LeftFront
diagonal
side
rightFront
22

Figure : Receiver circuit
diagram
23

Tx1
Rx1
Tx2
Rx2
From Tx2
Figure : Timing diagram of sensors signals()
24
IR LED

Pulsing allows higher current to swarm interference
()
LED on < 10% of time only -> can stand higher current

Pulsing minimize interference from neighbouring sensors

Receiver should be less sensitive -> allows high transmitter output
()

Improve signal noise ratio

25
2.2 Alignment

Direction offset

Centre of cell
Lateral offset

Longitudinal offset

Figure: Types of positional error

26

Figure: Correcting direction & lateral offset with diagonal sensor
(45 )

if( (LALIGN_SEN_VALUE > laSenV3) && (RALIGN_SEN_VALUE < raSenV3)) {
//Too left, adjust right
alignSpeed= (LALIGN_SEN_VALUE - laSenV3)*maxAlignSpeed/laNearLeftRange ;
}
else if( (RALIGN_SEN_VALUE > raSenV3) && (LALIGN_SEN_VALUE < laSenV3) ) {
// Too right, adjust left
alignSpeed = -(RALIGN_SEN_VALUE - raSenV3)*maxAlignSpeed/raNearRightRange);
}

LALIGN_SEN_VALUE
RALIGN_SEN_VALUE
27

*Almost all turns are preceded by a pole to no-pole transisition

Threshold
eve
Readjust position
Figure: Correcting longitudinal offset with pole detection
()

Assumption :
Lateral and angular offset
is small.
28

Start of turn
end of turn
Use front sensors to adjust
position before turn
Figure: Correcting longitudinal offset with front wall (exploration)
()

Calibrate
sensor here
29

Collision avoidance

Detect pole to adjust
position()

Not use in diagonal run
Figure: Diagonal run. Collision avoidance and position adjustment

30
3.0 Speed Profile

Rotational speed(wSpeed)

Translational speed (xSpeed)
leftWheelSpeed = xSpeed wSpeed;
rightWheelSpeed = xSpeed + wSpeed;
Figure : Speed components of a 2 wheels robot
31
3.1 Two basic speed profiles

Translational speed

Parameters
Top speed
Acceleration/deceleration
End speed (= curve turn speed)
Distance

Time(s)
Speed (m/s)
Top
speed Acceleration/
deceleration
end speed
32
Rotational speed ()

3.2 Basic movements

Diagonal & non-diagonal straight runs (wSpeed=0)

Pivot turns (xSpeed=0) ()

Curve turns 90, 180(U), 135(J), 45,V(xSpeed=constant, + wSpeed)

Time(s)
Speed (deg/s)
Top
speed Acceleration/
deceleration
33
45 degrees (x4)
90 degrees(x4)
180 degrees(x2)
135 degrees (x4)
34

V turn (x2)
35

Time(s)
Speed(m/s)
Outer wheel
Inner wheel
Figure : Curve turn speed profile
end
start
36
3.3 Profile generator and PD loop

No integral term
PD control & Profile generator is executed every msec
PWM frequency is 10kHz
PWM duty cycle = kp error
n
+ kd (error
n
-error
n-1
)
PD-

+
-
Profile
Generator

error
speed

PWM

encoder signals
Figure : Profile generator and PD loop
Set topSpeed,
endSpeed,
acceleration, distance
motor
37
3.4 Straight speed profile C code

// At the beginning of profile, targetSpeed = topSpeed;
// Keep checking for deceleration condition
void SpeedProfile() {

decelerationRequired = (curSpeed
2
endSpeed
2
)/(2distance);

if (decelerationRequired>deceleration) targetSpeed = endSpeed;

if (curSpeed<targetSpeed) curSpeed += acceleration;

if (curSpeed>targetSpeed) curSpeed -= deceleration;

distance += curSpeed;
}
distance - ; curSpeed -; endSpeed - ;
acceleration - ; deceleration -

38
Time(s)
Speed(m/s)
Figure : Speed profile
t
2
t
1

s
2

s
1

d
A
B
Calculating deceleration:
A+B = (S
1
t
2
)/2
B = S
2
(t
2
- t
1
)/2
d = S
1
/t
2
= S
2
/( t
2
- t
1
)
o t
2
= S
1
/d
o (t
2
- t
1
) = S
2
/d

A = (S
1
t
2
)/2 -B

= (S
1
t
2
)/2

- S
2
(t
2
- t
1
)/2
= (S
1
2
- S
2
2
)/2d

d = (S
1
2
- S
2
2
)/2A

39
3.5 PD loop and gyroscope

PD
+
-
Straight
Profile gen

xError xSpeed
left
Figure : rotational and translation control loop
PD
+
-
Curve turn
Profile gen
wError wSpeed
right
(R-L)/2 or gyro
+
-
+
+
(R+L)/2
L
R
alignSpeed

leftSpeed = xSpeed wSpeed;
rightSpeed = xSpeed + wSpeed;
xSpeed = (rightSpeed+leftSpeed)/2
wSpeed = (rightSpeed-leftSpeed)/2
40
Gyro is fast in response

Accurate for fast curve turn (not for very slow turn) / opposite of optical
encoder

Need to calibrate before run due to DC drift ?

Not affected by tires size change
41
4.0 DC motor sizing

Step 1 : Calculate maximum power required
Force(N) = mass(kg) acceleration(m/s
2
) =
o Desired acceleration = 7 m/s
2
// experience required
Time(s)
Speed (m/s)
7 m/s
2

3
7 m/s
2

Maximum power
42
Force = 0.12kg 7m/s
2
= 0.84N
Power (W) = force(N) speed(m/s) ( = )
Maximum power is required when robot is accelerating at 7 m/s
2
near top
speed = 3m/s.
Max power required = 0.84N3 m/s = 2.52 watt.
Since there are 2 motors, power required per motor = 1.26 W.
Step 2 : Select motor (Faulhaber 1717SR)
Choose a motor with maximum Power 1.5 times to 2 times 1.26W = 1.89W
to 2.52 W,
Which is less than the Pmax of 1.96 W (Faulhaber 1717SR).
43

Note that I also overdrive the motor. 2x Lithium Polymer = 8.4V. Average
around 7.8 volts
Maximum power out at 7.8 V = (7.8/6)
2
1.96 = 3.3 watts
Step 3 : Select gear ratio
Calculate torque and speed
o Tires diameter is 24mm
o Torque required = Forceradius ( = )
44
= 0.84N 12mm = 10.08 mNm
o Torque required per motor = 5.04mNm.
o Wheel circumference = Pidiameter = 0.0754m
o At 3m/s, wheel revolution = speed/circumference
= 3/0.0754m = 39.8 rps = 2387 rpm
Therefore, near top speed, motor must be able to provide torque output of
5.04mNm at speed of 2387 rpm.

45

Speed rpm
Torque mNm
5 10 15
14000
Figure : DC motor speed-torque characteristic
Accelerating
5.04mNm
Top speed
2387 rpm
Max power 1.96W
Speed (m/s)
7 m/s
2

7 m/s
2

46

Speed rpm
Torque mNm
5 10 15
14000
7000
4667
1:1
3:1
Figure : DC motor speed-torque characteristic
12
32
Gear ratio 2:1
Accelerating
5.04mNm
Top speed
2387 rpm
Max power 1.96W
47
There is a range of gear ratio to select from
The higher the gear ratio, the more energy efficient the motor is.
Allows spare power for alignment

Prefer long & slim motors to short and fat motor. Lower c.g.

48
4.1 DC motor driver

MOSFET driver motor driver
Pull up
Figure : Min5 motor driver circuit
-Choose low turn-On resistance MOSFET
-Pull up input to prevent conduction

49
User interface
Need feedback to tell what the mouse is doing
LED lights
Sound
Menu driven (dotmatrix display & input switch)

Websites
Visit my website at www.np.edu.sg/alpha/nbk
(A* Pathfinding ) http://www.policyalmanac.org/games/aStarTutorial.htm
(Nakashima website) http://homepage1.nifty.com/hfd01577/index.html
(Pete Harrison) http://micromouse.cannock.ac.uk

Good Luck!

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Ng Beng Kiat Taiwan2009

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