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RobotAutonomy Programming Using Simulink

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6 views

RobotAutonomy Programming Using Simulink

Uploaded by

nithishvb15
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Infrared Sensor Basics and Robot Autonomy

Programming Using Simulink

By Jose Avendano

© 2019 The MathWorks, Inc.


1
Agenda

▪ Introduction to the BEST IR Sensor


▪ Sensor Applications
1. Object Detection
2. Line Detection
3. Motor Encoders
▪ Autonomy Integration
1. BEST SimBot
2. Joystick Triggering
3. Sequences of Commands

2
BEST Robotics IR Sensor Kit

3
BEST Robotics Infrared (IR) Sensor

▪ 2 Sensor components

Receiver
Beam
Field
Projection Area
Of
View

Transmitter Receiver

4
Sensor Detections

1. IR Beam cannot be
obstructed
✔
IR Beam must be within

X
2.
detection distance

X
5
Sensor Testing

▪ Transmitter LED indicates power


▪ Receiver LED indicates detection of IR beam

IR Beam Active (LED ON) IR Beam Broken (LED OFF)

✔ X 6
Sensor Sensitivity

▪ Adjust potentiometer to
change sensitivity
▪ Somewhere in the middle
(not either extreme) is the
highest sensitivity

7
Sensor Sensitivity

8
Sensor Application 1
Object Detection

9
Object Detection

▪ Bouncing light from an object

▪ Place transmitter and receiver


facing in the same direction

▪ Reflected light will be detected


and indicate an object

✔X
10
Object Detection

11
Simulink Example 1
Object Detection

12
Simulink Example: Move Until Object is Detected

13
Sensor Application 2
Line Following

14
Line Detection

▪ Same as object detection, place X


✔
transmitter and receiver facing the
same direction

▪ Light will be reflected by bright


colored surfaces and absorbed by
dark surfaces

▪ Place the transmitter and receiver


strategically

▪ Make sure to calibrate the sensor


sensitivity

15
Line Detection

16
Line Following

17
Simulink Example 2
Line Following

18
Sensor Application 3
Wheel Encoders

19
Motor/Wheel Encoders

▪ Place the transmitter and


receiver so the detection is
interrupted by a rotating
wheel

▪ Resolution of encoder
depends on number of
detections per rotation

▪ Use black paint and adjust


sensitivity to help reduce
false detections
20
Motor/Wheel Encoders

▪ Derive distance traveled


with robot geometry 9
8
7
6
5
4
3
2
1
360°
▪ Derive robot orientation
using multiple encoders

21
Simulink Example 3
Wheel Encoders

22
Autonomy Integration

23
Intro to SimBot

▪ Robot designed for teaching BEST workshops

▪ Built with BEST components

▪ Robot controller is a VEX Arm-Cortex


Microcontroller

24
SimBot Components
A
A. 1 Servo Motor
B. 3 DC Motors B
– Left Wheel
– Right Wheel
– Arm
C
C. 2 Contact switches
D. 2 Potentiometers D
E. 1 InfraRed (IR) Sensor

25
Fetching an object Autonomously

26
Simulink Example 4
Trigger Autonomous Behavior

27
Simulink Example 5
Sequencing Commands

28
MathWorks Student Competitions
Mobile Robotics Tutorials
▪ Control of robot motion
▪ PID Controllers
▪ Line Following
▪ Obstacle Detection
▪ Path Navigation

29
Robot Autonomy and Control Webinar

▪ Intro to Robot Autonomy


▪ Motion Control
▪ Using VEX Sensors
▪ Control Algorithms
▪ Navigation Logic/State-Machines
▪ PID Control implementations

30

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