All-Terrain Autonomous Navigation Robot with GPS-IMU Jaguar-4x4-Wheel User Guide Copyright © 2010, Dr Robot Inc. All Rights Reserved. www.DrRobot.
Copyright Statement This manual or any portion of it may not be copied or duplicated without the expressed written consent of Dr Robot. All the software, firmware, hardware and product design accompanying with Dr Robot’s product are solely owned and copyrighted by Dr Robot. End users are authorized to use for personal research and educational use only.
Table of Contents I. II. III. IV. V.
I. Specifications Jaguar-4x4-wheel Mobile Robotic Platform is designed for indoor and outdoor operation requiring higher ground clearance and faster maneuverability. Jaguar-4x4-wheel platform is a wheeled version of the Jaguar-Lite platform. Jaguar-4x4-wheel is driven by four powerful (80W) motors, one for each wheel. Jaguar-4x4-wheel platform is rugged, light weight (< 20Kg), fast (max 15km/hr), with high ground clearance (88mm), compact, weather and water resistant.
Motion and sensing controller (PWM, Position and Speed Control) 5Hz GPS and 9 DOF IMU (Gyro/Accelerometer/Compass) Laser scanner (4m or 30m) (Optional) Temperature sensing & Voltage monitoring Headlights Color Camera (640x480, 30fps) with audio WiFi802.11G (Optional WiFi 802.11N) Ethernet Serial (RS232) Ethernet (Optional) General purpose communication and power port (Optional) Gamepad controller Head mounted display (dual 640 x 480), equivalent to 60” display viewed in 2.
Jaguar Core Components JAGUAR4x4W-ME Jaguar 4x4 Wheel Chassis (including motors and encoders) 1 PMS5005-J Motion and Sensing Controller (Jaguar Version) 1 WFS802G WiFi 802.11b/g Wireless Module 2 DMD2500 25A (peak 50A) Dual-channel DC Motor Driver Module 2 PMCHR12 DC-DC Power Board 1 AXCAM-A 640x480 Networked Color Camera (max. 30fps) with Two-Way Audio 1 OGPS501 Outdoor GPS Receiver with 5Hz Update Rate and WAAS 1 IMU9000 9 DOF IMU (Gyro/Accelerometer/Compass) 1 WRT802G 802.
II. Knowing Your Robot Overlook The figure below illustrates the key components that you will identify on the Jaguar-4x4-Wheel robot. GPS and 9 DOF IMU (Gyro/Accelerometer/Compass) Laser Scanner Camera Headlights Power Switch Handle Bar WiFi Antenna Recharging Socket Jaguar-4x4-Wheel Platform Copyright © 2010, Dr Robot Inc. All Rights Reserved. www.DrRobot.
Operation Scenario Diagram below illustrates the typical operation scenario. The Jaguar-4x4-wheel is a wireless networked outdoor mobile robot. It comes with a wireless 802.11 AP/router. The remote host controller PC running the “Jaguar Control” program connects to the Jaguar-4x4-wheel robot via: Network cable – Connect the robot on-board AP/router.
III. Operation of Jaguar Robot End user could develop his own Jaguar control program using the supplied development API and tools. Here, we will show you how to control the robot using the included “Jaguar Control Program” (You need to install Google Earth program first). Using Dr Robot Jaguar Control Program This program will demonstrate how to control and navigate the Jaguar-4x4-wheel, and how to interpret, process, display and log multi-sensor information. This program is provided with source code (c#).
“FlyToSetPoint” button will bring you to the location (latitude/longitude) specified in “outdoorrobotconfig.xml”. This is the location you would like the map to center and show around. You should modify this location according to your location. This could be done by inputting the value in this xml file or navigating on Google Earth map to your interested point, then clicking “SaveSetPoint” button. The location value of the map center will then be saved to the “outdoorrobotconfig.xml” when program is closed.
You could use the vertical track bar to zoom in or out. When the GPS-IMU module is presented, this program will connect and display the GPS information on Google Earth and IMU raw data on the 6 chart boxes. When camera is presented, the video and AV control buttons will be shown in the video window. You could use the included Gamepad controller to navigate the robot.
Battery information and motor information is displayed here. If the robot uses the included Li-Po battery, you need to stop the robot when voltage is below marked voltage (22.2V) in order to prevent battery damage. Motor temperatures are also displayed here. “Encoder Pos” boxes show the encoder position values received in motor driver board from motion control board. The two horizontal track bars show the Gamepad controller’s left and right stick control value.
Recharging Jaguar robot uses high performance LiPo batteries. Extreme caution is needed when dealing with this type of battery, explosion and damage could occur. Please read the Charge Station manual first and follow all the safety rules before proceeding further. 1) Power on the Charge Station. Make sure "LiPo Charge" is displayed on the LCD screen. If not, use "Type/Stop" button to change it to "LiPo Battery". 2) Use "INC" button to choose how to charge battery.
IV. Hardware and Electronics Network Settings Wireless Router Setting The included pre-configured wireless 802.11 B/G router has the following pre-set settings: SSID DriJaguar Router LAN 192.168.0.245 WEP 128bits Login ID admin KEY 112233445566778899AABBCCDD Password drrobot Key Type Open Key Device Default Network Settings Note: The WiFi modules are configured to serial-to-Ethernet mode in Jaguar platform. WiFi Module 1 192.168.0.60 Port 1 Port Number 10001, UDP 115200.
Charging Plug Antenna Right Front Motor Right Rear Motor Left Front Motor Left Rear Motor LiPo 22.2V 10AH OFF ON Main Switch Motor Driver Board #1 Camera (AV) Power 5V Copyright © 2010, Dr Robot Inc. All Rights Reserved. www.DrRobot.com - 15 - Wireless AP/Router 3.3V Antenna Power 5V Power 5V LAN GPS Module WiFi Module 2 9 DOF IMU (Gyro/ Accelerometer/Compass) Power 5V WiFi Module 1 5V Head Lights Power 3.3V Port 10002 Port 10001 DC-DC Power Board 5V Power 5V Power 3.
Motor Driver Board The left front and left rear motors are connected to the 1st channel on the motor driver board while the right front and right rear motors are connected to the 2nd channel. Input power Max current Input voltage H-Bridge 2 channels up to 25A continuous power per channel, peak up to 50A per channel for a few seconds 6~24V, 30V absolute max Motion and Sensing Controller This is a special version of PMS5005 board.
9DOF IMU (Gyro, Accelerometer & Digital Compass) Input power Gyro Sensors 5V LY530ALH - 300o/s single-axis gyro LPR530ALH - 300o/s dual-axis gyro 3 Axis ADXL345 13bit resolution Max +/-16G 3 Axis HMC5843 magnetometer 50Hz Output all sensor raw data and processed data by on-board MCU through serial port Accelerometers Magnetic Compass Output Frequency Laser Scanner Two laser scanner options are available, one with measurement range of 0.02-4m, and other one is 0.1-30m.
Powertrain (motor, speed-reducer and encoder) The following specifications are defined at the output shaft after speed-reduction. Drive wheel shaft Track-wheel motors (4 units) Motor rated voltage Motor rated current Motor max current Shaft rated speed Shaft rated torque Shaft encoder resolution DC motors with steel gearbox 24V 2.75A 16A 290RPM 8.5Kg.cm 722 counts per revolution Copyright © 2010, Dr Robot Inc. All Rights Reserved. www.DrRobot.
V. Further Development & Programming The Jaguar Control program The Jaguar Control program is written with Visual Studio 2008 express (in C#) under .Net 3.5 framework. You could download the development tools (Visual Studio 2008 express under .Net 3.5 framework) free from Microsoft. Please refer to the “Dr Robot Application Development Notes on C# Programming for Robot Control” for further information.
{ boardVol = ((double) myJaguar.GetSensorBatteryAD1() / 4095 * 9); motVol = ((double) myJaguar.GetSensorBatteryAD2() / 4095 * 33.749); } You could read motor temperature sensor in custom sensor event, function Trans2Temperature() is based on the sensor specification to translate AD value to temperature (in celcius degree). Also you could read left/right wheel motor encoder in this event.
To turn right with full power myJaguar.DcMotorPwmNonTimeCtr(4,32767); To control head lights, using expanded IO port bit7. Turn off light: Turn on light: myJaguar.SetCustomDOUT(expandedIO & 0x7f); myJaguar.SetCustomDOUT(expandedIO | 0x80); Software watchdog: The system will automatically, stop all the motors if it does not received any data package in 5 seconds. Laser Scanner Laser Ranger sensor (4m version, URG-04LX) is connected to WiFi module–1 port 2 after voltage level conversion.
Advanced Development Please refer to document “GPS-IMU Sensor Module and Outdoor Autonomous Navigation Program” for detail on autonomous navigation programming using the Jaguar GPS and IMU system module. Support and sample codes are available for using OpenCV, LabVIEW and MATLAB. Please contact support@drrobot.com for further information. Copyright © 2010, Dr Robot Inc. All Rights Reserved. www.DrRobot.
