Instructables
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building the control deck.jpg
Sorry for any misspelled words or grammar will re-edit later. Wanted to get this posted.

videos of the robot can be found at: http://www.phantasm1.com/videos.html

Take a look to see Ladibug in action.

My first step was to remove all of the plastic coverings and human interface components. like handle bars, seat, foot rests etc. I then had to build a deck or platform to hold all of the computer equipment, motor controllers, and sensors. In this picture you can see the steering has been installed with a large motor scavenged from an electric wheel chair. I added a custom mount for the large diameter sprocket where the handle bars were. then used parts left over from my sons Trampoline to build the roll cage. and support for the decking, also mounted just forward of the steering is the small blue box that is the motor controller built by Roboteq. This controller could handle 24 volts at a max amp rating of 120 for the steering.

Step 1:

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In this picture you can see myself adding the radar sensor, and the air tank as well as the emergency stop control box.  at the top of the robot is the main P.C. on the second deck above the steering. We also added a small compressor for operating the breaking system. the breaks were controlled by a solenoid that operated a large air cylinder that would push the break peddle to stop the robot. It could also be locked into position for safety. This was a one of the reasons we wanted to use an automatic transmission it eliminated the need to operate the clutch when stopping or breaking. The Radar was provided to us by Epsilon Lambda electronics corp. cost 15000.00 USD. Installation was straight forward. mount and shoot. the software that was provided worked well and gave us good echo return for obstacle avoidance. Sonar was a little more complex. Timing is everything with sonar as you can guess. Sonar works by chirping a signal or sound from the small transducers at the front of the robot, then listening for a return if one is received then there is an obstacle the time of flight of the signal for the ping to the return tells the robot how far the object is and at what general direction relative to the transducer the object can be found. Now the amount of data that has to be sifted through as you can imagine is overwhelming, and you add to that the inferred data and radar data and GPS data. etc. you end up with to much to process in the short time a reaction to the obstacle can be served up. What do you do? well what we did is tell the computer to ignore any data that was outside i given track and boundary that cut down dramatically or data overflow. we also instructed the computer to ignore obstacles of a given size and smaller. again net gain was achieved. knowing your environment that you intend to operate in is of the most importance. You can now see how difficult the Grand Challenge was.

Keep in mind that hardware is only part of the robot. without software you have nothing but a topic of discussion. Your robot will never go anywhare. So having a good programer or mentor is very important, never be embarrassed to ask for help. There is a large amount of programs out there that are free and can give you a head start in any remote controlled device. Weather you are fully autonomous or just use a remote to control you robot.
 
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damianzuch1 year ago
Holy smokes this is so unbelievably amazing!!! Love it!!
Aron3132 years ago
Amazing! Do you have a video anywhere of this?
sparten11 (author)  Aron3132 years ago
yes thanks for asking here are a few to look at.

http://www.phantasm1.com/videos.html

thanks again
wwilliams62 years ago
Yes the Darpa Grand Challenge
nitro35512 years ago
was there a event that inspired the build?