Recon Outdoors Talon IR Spécifications télécharger pdf (Page 217)

Results and Conclusion

197

6.9 SUMMARY

The modification of a multi-terrain robotic vehicle for autonomous outdoor

applications has successfully been completed. All of the project objectives have been

met and the software interface written has exceeded project requirements. The

mechatron and installed components are designed to allow autonomous operation and

includes onboard power supply and control electronics.

The previously designed mechanical shell of a self laying track mechatron formed the

base of this project. The platform, constructed with a steel frame and differential drive

system provides a durable and stable vehicle for the negotiation of difficult terrain in

an outdoor environment. This project included a number of mechanical modifications

and enhancements to the original platform to enable operation. These include the

construction of new flanges for the guide pulleys and various mountings and brackets

for the different components.

Working electronic components did not exist on the original platform therefore a

complete design and installation of these systems was completed. An onboard power

supply constituting two 12 V SLA Deep Cycle batteries connected in series and a

ATX switch mode converter with 18 – 32 V input range is installed. The power

system provides +12 V and +5 V rails to the various other systems through a modular

designed connection system and power distribution board. The CPU is a ShuttleX

desktop PC with a 2800+ processor and 512 MB of RAM. Motor control consists of a

pair of RHINO scooter controllers with a custom designed interface board and

microcontroller control. Communication with a remote base is provided using D-Link

wireless network adapters, using a standard 802.11b protocol. Data input and output is

achieved using a PCI-6229M data acquisition card manufactured by National

Instruments.

A number of sensory systems have been researched and installed on the mechatron for

robot localization and navigation outdoors. An evaluation of sensor response and

suitability for the mechatron is completed before integration into robot control

software. Sensors include GPS for positioning, electronic compass for heading and

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Recon Outdoors Talon IR Spécifications Page 217