built by Yong Voon Siew

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* * * * *
Target Environment Locomotion Method
Indoors 3 Wheels
Sensors / Input Devices Actuators / Output Devices
IR speed/direction feedback
battery level sensor
DC drive motor
manipulator arm
steering motor
Control Method Power Source
Autonomous Battery
CPU Type Operating System
Intel 80x86 N/A
Programming Lanuage Weight
Time to build Cost to build
URL for more information

M2P is a 3 wheeled mobile platform built, while in my final year project in Putra University Of Malaysia. Its objective are:

a) move in a predetermined XY graph destination with given XY cartesian coordinates or polar coordinates.
b) move in a predetermined XY graph destination with forward obstacle avoidance.
c) one time learning of foreign path.In another words, this platform can move to a previous path provided it is taught earlier. Path tracing capability.
d) path mapping on the fly.

This mobile platform is an open system with lots of features can be included. Controller is based on a 486DX Intel processor main board with controlling program written in C language. Platform base is made of PVC with aluminium reinforcement.It had one DC driver motor with 270 degree manueverbility using stepper motor. Motor is fully control using H-bridge amplifier. Direction and speed control on the driver wheel is feedback using IR detectors. IO ports are obtained from one homebuilt ISA cards which can expand to 4 Bi-directional ports. Each ports can be expand upto 16 IOs. All these IO is use for sonar sensing, IR detectors for speed and directional, wheel homing detectors,manipulated arm, battery management sensor and extra sensors for future upgrades. The motor driver had force feedback capability to have on-the fly parametric change to suit the current new environment. All sonar sensors are equiped with counters to detect obstacles with distance measurements upon pinging. The sensors are read in FIFO style. Power is provided with 12V 7AH sealed lead acid battery. All program are platform compilation.

Email: voonsiew@hotmail.com

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