By Jered Tupik and Sam Webster - Fall 2019 4180

Overview

We set out to design and build a robot to demonstrate a scanning LiDAR collision warning and avoidance system. The system will support both remote bluetooth user-control and fully autonomous operation. During user-controlled movement the robot will provide visual and audio feedback of nearby obstacles via an on board LCD screen and speaker.

Design Description

We utilized the robot frame and drive train included in the robot kit and added our own custom scanning LiDAR system consisting of 4 Time of Flight Distance Sensors (VL53L0X, used in lab) mounted on a single servo with a custom tower system. The whole system is based on the mBed LPC1768 running mBed RTOS (additional components and connections listed below).

User Instructions

After downloading the Adafruit Bluefruit LE Connect app and connecting to the Bluefruit module, select the controller option from the menu options. By default the robot will be in user controlled mode. The operator can use the arrow keys to drive the robot; multiple keys can be pressed at the same time to achieve a full range of movements. Pressing the "1" button will launch the autonomous driving mode. User control mode can be restarted by pressing "1" again. The "4" button is reserved as a special emergency shut off.

Video Demonstration

Implementation

Primary Components

*More information on setting I2C Addresses found here*

Code

The complete code can be found here