RTP 1

built by Kevin Moore



Target Environment	Locomotion Method
Indoors	3 Wheels
Sensors / Input Devices	Actuators / Output Devices
sound detector ultrasonic range finder bumpers	2 DC motors
Control Method	Power Source
Autonomous	Battery
CPU Type	Operating System
Motorola HC11	None
Programming Lanuage	Weight
BASIC	N/A
Time to build	Cost to build
about 6 months	N/A
URL for more information
N/A
Comments
RTP 1 (Rover Test Project 1) is the name I have given to this robot that I am currently working on. It was built using a 16inch by 10inch board with two 5 and 1\2 inch wheels upfront being driven by two 12vdc motors controlled by a H-bridge configuration. The trailing rear wheel is a 3 inch swivel caster. It has a sound detector circuit that allows me to either start or stop the robot with a loud clap. I am using an ultrasonic sensor mounted on a stepper motor for obstacle detection. I also have a bumper configuration attached to two limit switches up front for extra obstacle avoidance. All of this is interfaced to a 68hc11. The program is written in basic. I have been working on this on and off for about 6 months. I have had the most difficulty with obstacle avoidance. I will soon be replacing the front bumper assembly with an IRPD (infrared proximity detection) system. This is an ongoing project that I am using to learn more about microprocessor systems and electronic interfacing techniques. Please email me at kev8@ix.netcom.com with any tips or questions.

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