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Android-Controlled Robot: Ben Johnke ECE561 Final Project December 16, 2013
Android-Controlled Robot: Ben Johnke ECE561 Final Project December 16, 2013
Robot
Ben Johnke
ECE561 Final Project
December 16, 2013
1
Project Overview
What?
Vehicle which can be controlled remotely
by an Android smartphone
How?
Write an Android app which allows the user
to provide throttle and steering inputs
The app sends commands via Bluetooth
Commands received by Bluetooth modem
connected to microcontroller
Microcontroller controls motors
2
System Overview
Microcontrolle
r
Bluetoo
th
modem
Power
sourc
e
Motor
driver
Android
controlle
r
applicati
on
Drivetra
in
System Overview
Microcontrolle
r
Bluetoo
th
modem
Power
sourc
e
Motor
driver
Android
controlle
r
applicati
on
Drivetra
in
Drivetrain
Vehicle driven by left and right
DC motors
Motor torque spec based on
estimated vehicle weight,
desired acceleration
Differential steering employed
Turn vehicle by driving motors at
different velocities
Ball casters in front allow
pivoting; no additional wheels
needed
5
System Overview
Microcontrolle
r
Bluetoo
th
modem
Power
sourc
e
Motor
driver
Android
controlle
r
applicati
on
Drivetra
in
Power Source
Few battery technologies can
provide high current
Max. discharge rate specified
by C-rating
C = battery capacity in amp hrs.
NiMH: ~1C
LiPo: 10C+
System Overview
Microcontrolle
r
Bluetoo
th
modem
Power
sourc
e
Motor
driver
Android
controlle
r
applicati
on
Drivetra
in
Motor Driver
Motor control requires full processor attention
Monitor motor speed
Continuously adjust motor voltage to minimize error between desired
and actual motor speeds
Essentially a digital feedback control system
System Overview
Microcontrolle
r
Bluetoo
th
modem
Power
sourc
e
Motor
driver
Android
controlle
r
applicati
on
Drivetra
in
10
Microcontroller
Arduino UNO
14 digital I/O pins which can also be
used for serial communication
On-board regulated 5V supply
Works with Pololu Motor Driver Shield
System Overview
Microcontrolle
r
Bluetoo
th
modem
Power
sourc
e
Motor
driver
Android
controlle
r
applicati
on
Drivetra
in
12
Bluetooth Modem
Want Class 1 Bluetooth for long range
(~100m)
Chosen model: BlueSMiRF Gold
System Overview
Microcontrolle
r
Bluetoo
th
modem
Power
sourc
e
Motor
driver
Android
controlle
r
applicati
on
Drivetra
in
14
Lessons Learned
Skills
Android app development (Java, XML)
Selecting parts based on datasheets
Practical aspects: sourcing parts, mechanical fabrication
Bringing a design from concept to implementation
Conclusion
It is feasible to implement Bluetooth communication
between smartphone and microcontroller
This opens door for wide range of possible similar
applications
Remote starter for car
Automation of household tasks
16
Future Extensions
Advanced motion
i.e. robot arm controlled by servo
motor
Obstacle avoidance
Install proximity sensor; develop
algorithms to steer around / back
up when obstacles detected
Vision
Use camera to transmit frames
back to Android application for
display to user
Bluetooth too low-bandwidth;
switch to WiFi
17
Video
https://www.youtube.com/watch?
v=LB0zt2BYd84
18