CERS presentation
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This document summarizes a project to design and implement a speedometer and speed controller for radio-controlled cars. Hall-effect sensors are used to measure wheel speed and provide feedback to a PID controller, which regulates motor speed to match desired speed inputs. The system was validated using displacement and position data from experiments. Future work will integrate steering feedback control and onboard motion planning.
![The future of autonomous driving
• Google, Bosch, Audi, TESLA etc.
• Onboard motion planning
• Real time path following
[1]http://o.aolcdn.com/hss/storage/midas/2b607a78e759755e5ec7beca39ef3149/201287542/google-self-driving-car-complete-prototype.jpg
[2] http://images.hgmsites.net/hug/bosch-autonomous-car-technology_100417251_h.jpg
[3] http://www.electronicproducts.com/uploadedImages/Electromechanical_Components/Motors_and_Controllers/fajb_tesla_lounge_02_feb2014.jpg
Google’s autonomous car
(source:[1])
Bosch’s autonomous car
(source: [2])
TESLA’s autonomous car model
(source: [3])](https://image.slidesharecdn.com/7ecd5070-3879-4588-8aae-7db95dc9e117-160415210736/85/CERS-presentation-2-320.jpg)
![Motion planning research
• Path generated by motion planning
algorithm as a series of checkpoints
• We assume that the path is given.
• Path following control is the objective of
this project.
[1] https://i.ytimg.com/vi/P8nOupnKZts/maxresdefault.jpg
Typical motion plan (source: [1])
Path:
Checkpoints:](https://image.slidesharecdn.com/7ecd5070-3879-4588-8aae-7db95dc9e117-160415210736/85/CERS-presentation-3-320.jpg)
![Why do we use Radio-controlled (RC) Cars?
Well-suited
for testing in lab
environment
[1]: http://www.redcatracing.com/IMG_7527.jpg
Obeys car
dynamics
Lacks the speed
monitoring system](https://image.slidesharecdn.com/7ecd5070-3879-4588-8aae-7db95dc9e117-160415210736/85/CERS-presentation-4-320.jpg)
![Objective of the project
• This project is focusing on the speed
control by building a speed
monitoring and regulation system
• Existing method:
• Camera as visual odometry [1]
• Real-time Kinematic Global Position
System (RTK-GPS) [2]
[1] Navid Nourani-Vatani, Jonathan Roberts, and Mandiam V Srinivasan. Practical visual odometry for car-like vehicles. In Robotics and Automation, 2009. ICRA’09. IEEE International Conference on, pages 3551–3557.
IEEE, 2009.
[2] Chang Boon Low and Danwei Wang. Integrated estimation for wheeled mobile robot posture, velocities, and wheel skidding perturbations. In Robotics and Automation, 2007 IEEE International Conference on, pages
2355–2360. IEEE, 2007.
Path following
control
Speed control
Steering
control](https://image.slidesharecdn.com/7ecd5070-3879-4588-8aae-7db95dc9e117-160415210736/85/CERS-presentation-5-320.jpg)
![From control input to actuation
• Speed command actuation
[1] https://hackadaycom.files.wordpress.com/2015/12/arduino-uno-wifi.png
[2] http://www.robotshop.com/media/files/images/monster-motor-controller-shield-arduino-large.jpg
INPUT
Arduino Uno
(source: [1]) Motor Driver
(source: [2])
PWM MOVE
Bluetooth
communication
from user
Desired
Speed](https://image.slidesharecdn.com/7ecd5070-3879-4588-8aae-7db95dc9e117-160415210736/85/CERS-presentation-7-320.jpg)
![Sensing system
• Hall-effect sensor working principle
• The voltage difference across an electric
conductor transverse to the flow current
due to the orthogonal magnetic field
Hall-effect sensor working principle
(source: [1])
[1] http://www.electronics-tutorials.ws/electromagnetism/mag26.gif
Hall-effect sensor](https://image.slidesharecdn.com/7ecd5070-3879-4588-8aae-7db95dc9e117-160415210736/85/CERS-presentation-8-320.jpg)
![Setting up the Hall-effect Sensors
[1] Ali Pearlman. Car differential, retrieved from http://web.mit.edu/2.972/www/reports/differential/differential-1.gif
.
Hall-effect sensors setup (source: [1])](https://image.slidesharecdn.com/7ecd5070-3879-4588-8aae-7db95dc9e117-160415210736/85/CERS-presentation-9-320.jpg)
![Oscilloscope (source: [1])
Hall-effect sensor output signal
Hall-effect sensor output captured by
oscilloscope when the wheels run at 100
cm/s.
Hall-effect sensor output captured by
oscilloscope when the wheels run at 300
cm/s.
[1] http://www.rigolna.com/images/products/DS1074B.jpg](https://image.slidesharecdn.com/7ecd5070-3879-4588-8aae-7db95dc9e117-160415210736/85/CERS-presentation-10-320.jpg)
CERS presentation
- 1. Design and Implementation of a Speedometer and Speed Controller for Radio-controller Cars Zhenyuan Yuan (Jack) Department of Electrical Engineering, University Park Co-author: Nurali Virani Supervisor: Dr. Minghui Zhu This work is supported by Networked Robotic Systems Laboratory, University Park, from Department of Mechanical and Nuclear Engineering. CERS 2016 Presentation
- 2. The future of autonomous driving • Google, Bosch, Audi, TESLA etc. • Onboard motion planning • Real time path following [1]http://o.aolcdn.com/hss/storage/midas/2b607a78e759755e5ec7beca39ef3149/201287542/google-self-driving-car-complete-prototype.jpg [2] http://images.hgmsites.net/hug/bosch-autonomous-car-technology_100417251_h.jpg [3] http://www.electronicproducts.com/uploadedImages/Electromechanical_Components/Motors_and_Controllers/fajb_tesla_lounge_02_feb2014.jpg Google’s autonomous car (source:[1]) Bosch’s autonomous car (source: [2]) TESLA’s autonomous car model (source: [3])
- 3. Motion planning research • Path generated by motion planning algorithm as a series of checkpoints • We assume that the path is given. • Path following control is the objective of this project. [1] https://i.ytimg.com/vi/P8nOupnKZts/maxresdefault.jpg Typical motion plan (source: [1]) Path: Checkpoints:
- 4. Why do we use Radio-controlled (RC) Cars? Well-suited for testing in lab environment [1]: http://www.redcatracing.com/IMG_7527.jpg Obeys car dynamics Lacks the speed monitoring system
- 5. Objective of the project • This project is focusing on the speed control by building a speed monitoring and regulation system • Existing method: • Camera as visual odometry [1] • Real-time Kinematic Global Position System (RTK-GPS) [2] [1] Navid Nourani-Vatani, Jonathan Roberts, and Mandiam V Srinivasan. Practical visual odometry for car-like vehicles. In Robotics and Automation, 2009. ICRA’09. IEEE International Conference on, pages 3551–3557. IEEE, 2009. [2] Chang Boon Low and Danwei Wang. Integrated estimation for wheeled mobile robot posture, velocities, and wheel skidding perturbations. In Robotics and Automation, 2007 IEEE International Conference on, pages 2355–2360. IEEE, 2007. Path following control Speed control Steering control
- 6. Control system block diagram OUTPUTINPUT System feedback Disturbance Controller Sensing System PID CONTROLLER Hall-effect sensors
- 7. From control input to actuation • Speed command actuation [1] https://hackadaycom.files.wordpress.com/2015/12/arduino-uno-wifi.png [2] http://www.robotshop.com/media/files/images/monster-motor-controller-shield-arduino-large.jpg INPUT Arduino Uno (source: [1]) Motor Driver (source: [2]) PWM MOVE Bluetooth communication from user Desired Speed
- 8. Sensing system • Hall-effect sensor working principle • The voltage difference across an electric conductor transverse to the flow current due to the orthogonal magnetic field Hall-effect sensor working principle (source: [1]) [1] http://www.electronics-tutorials.ws/electromagnetism/mag26.gif Hall-effect sensor
- 9. Setting up the Hall-effect Sensors [1] Ali Pearlman. Car differential, retrieved from http://web.mit.edu/2.972/www/reports/differential/differential-1.gif . Hall-effect sensors setup (source: [1])
- 10. Oscilloscope (source: [1]) Hall-effect sensor output signal Hall-effect sensor output captured by oscilloscope when the wheels run at 100 cm/s. Hall-effect sensor output captured by oscilloscope when the wheels run at 300 cm/s. [1] http://www.rigolna.com/images/products/DS1074B.jpg
- 11. Speedometer Validation Method • Speed data displacement data • Position data displacement data Result plot Experiment environment
- 12. PID Controller (Proportional-Integral- Derivative) OUTPUTINPUT Disturbance (battery voltage & friction) feedback Hall-effect sensor speedometer Σ P 𝐾 𝑝 𝑒(𝑡) I 𝐾𝑖∫ 𝑒 𝑡 𝑑𝑡 D 𝐾 𝑑 𝑑𝑒 𝑡 𝑑𝑡 + - 𝑒 𝑡 = 𝑣 𝑚𝑒𝑎𝑢𝑟𝑒𝑑 𝑡 − 𝑣 𝑑𝑒𝑠𝑖𝑟𝑒𝑑(𝑡)
- 14. • Completed milestone: • The combination of Hall-effect sensor and PID controller provides effective speed monitoring and regulation. • Future milestone: • Steering feedback control • Onboard motion planning The road ahead
- 15. Thank You
Editor's Notes
- #2: Present the work have done with Nurali, under supervision of Design and implement a speed monitoring and regulation system for radio-controlled car
- #3: Recent research on autonomous car Onboard motion planning, plan path, parking, lane switching Capability of following, achieve autonomy
- #4: In our lab, motion planning algorithm, research topic For example in the figure, path is planned as a series check points that the car needs to follow Validate motion planning algorithm, experiment with the lowest cost and the simplest infrastructure Choose RC car, cost effective and obeys simple car dynamics
- #5: Validation on small-scale embedded platforms Obey simple car dynamics Easily implemented in our lab experiment But lack of speed control system, that’s why we need to build a speed monitoring and regulation system
- #6: Path following control is composed of speed control and steering control There are existing method for speed control, such as ….(indoor GPS) Neither of these is applicable due to the environmental constraint in our lab.
- #7: User input, controller generates command, system output, sensing system measures and feedback , adjusts output to match input Disturbances, factors affect the output To be more specific Subsystem of the project, address in the coming slides
- #8: System of the car Input desired speed to Arduino Digital signal (PWM) to motor driver
- #9: Sensing system Hall-effect (Left Hand Rule) For Hall-effect sensor, applying this principle, it will have different voltage outputs corresponding to the detection of different magnetic pole.
- #10: Applying this functionality Hall-effect sensor mounted Frequency of analog signal passed down to the arduino
- #11: Sensors signal is measured by oscilloscope Square, Speed vs. frequency, period vs. revolution speed (Arduino)
- #12: Functionality of the sensors is tested by experiment. Room equipped with motion capture system, provides accurate position data. Collect speed data from Hall-effect sensor Record position data from motion capture sysem Transform to displacement data, bring to comparison Align pretty well, effective speedometer
- #13: As the task of speed monitoring is completed by Hall-effect sensors, now I am going to introduce the speed regulation system done by PID controller. PID controller stands for Modify the output according to the feedback from sensors Shown on the figure, , applied to error, to maintain at desired speed output regardless of
- #14: Demonstration of PID control Maintain the car running at desired speed
- #15: As shown in the demonstration One of the two parts of path following is done, way to the second part Onboard motion planning using embedded onboard computer is the parallel process. Video of current project, follow the path without large deviation
- #16: This is the project Thank you for listening Questions?