Introduction: TRUCKBOT

TRUCKBOT is my first venture into micro-controllers and electronics. The goal is to create an autonomous mobile vehicle that is aware of its surroundings, can avoid obstacles, and entertains/annoys my two cats.

Under the hood, so far:

Arduino Uno
1A motor driver IC
6v battery pack (will be replaced with NiMH)
Servo-mounted ultra-sonic range-finder

To Do:

Servo-mounted Laser
steering control
2D map creation
object avoidance
LED lights
Motion sensor

Thanks to the wonderful folks at #Arduino on Freenode for their help.  Special thanks to 'AbstractBeliefs', who has slightly more patience than Gandhi. 


Update #1

I've started the range-finder and servo code, first data samples look great.  I was waving my hand in front of truckbot while the servo continually moved to 45, 90, 135, 90 and back to 45 degrees.  Right now servo gets a 150ms delay between moves, but I'm going to see if i can lower this.  Also, doing a transition from 0,1,2,3..45 with very short delays may be quieter than 45-delay-90-delay-180,etc. 

Here's the data from the map array: 

35, 35, 36, 
171, 34, 36, 
171, 33, 36, 
27, 30, 36, 
35, 34, 36, 
206, 44, 36, 
204, 43, 37, 
206, 43, 36, 
205, 43, 38, 

And a video:




Update #2 - 

Truckbot is alive.  I've switched out the 6v battery pack with 2 9v's wired in parallel, this vastly improves truckbot's maneuvering speed and agility.   The Arduino has been moved inside the chassis, and the range-finder now operates much faster, and takes roughly twice the readings as before. 



Obviously, the object avoidance and navigation code needs some work.  Back to work! 

Comments

author
dremeldude made it!(author)2011-09-09

to avoid obstacles, you could use a bump sensor to avoid obstacles below the rangefinder