M2P by Yong Voon Siew


M2P is a 3 wheeled mobile platform built, while in my final  
year project in Putra University Of Malaysia. Its objective are:
a) move in a predetermined XY graph destination with given XY cartesian
coordinates or polar coordinates.
b) move in a predetermined XY graph destination with forward obstacle 
c) one time learning of foreign path.In another words, this platform can
move to a previous path provided it is taught earlier. Path tracing capability.
d) path mapping on the fly.
This mobile platform is an open system with lots of features can be 
included. Controller is based on a 486DX Intel processor main board with 
controlling program written in C language. Platform base is made of PVC  
with aluminium reinforcement.It had one DC driver motor with 270 degree
manueverbility using stepper motor.  Motor is fully control using 
H-bridge amplifier. Direction and speed control on the driver wheel is
feedback using IR detectors. IO ports are obtained from one homebuilt 
ISA cards which can expand to 4 Bi-directional ports. Each ports can be 
expand upto 16 IOs. All these IO is use for sonar sensing, IR detectors 
for speed and directional, wheel homing detectors,manipulated arm, 
battery management sensor and extra sensors for future upgrades.
The motor driver had force feedback capability to have on-the fly parametric
change to suit the current new environment. All sonar sensors are equiped
with counters to detect obstacles with distance measurements upon pinging.
The sensors are read in FIFO style. Power is provided with 12V 7AH sealed
lead acid battery. All program are platform compilation.


Email: voonsiew@hotmail.com

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