MiniRanger
Kyle L. Carithers
REU 2006
MiniRanger
is a four wheel drive autonomous vehicle designed to navigate through a
miniature urban environment and track and follow various objects. Autonomous behavior is achieved using a
microcontroller in combination with various sensors including five sonar
ranging modules and a CMU2+ vision system.
Future work includes developing the navigation software, adding a grasping arm for transporting objects, and integrating additional electronic components including a compass and voice module.
Download the Report:
Download the power board files:
Videos:
The following video clips can be viewed using windows media player.
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This
video
demonstrates MiniRanger’s ability to track an object of a specific
color. The lighting system, which
consists of six high intensity LEDs and six small flashlight bulbs, is vital
for tracking an object. |
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This
video
demonstrates MiniRanger’s ability to not only track an object, but
follow and remain a set distance away from the object. MiniRanger integrates a Maxon motor
and encoder in combination with a PID controller for improved response and
consistent performance. |
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This
video
further demonstrates MiniRanger’s ability to track and follow an
object. MiniRanger comes fully
equipped, notice the brake lights. |
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