All-Terrain Autonomous Navigation Robot with GPS-IMU Jaguar Lite 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-Lite Mobile Robotic Platform is designed for indoor and outdoor operation requiring faster maneuverability. Jaguar-Lite is simply the Jaguar platform without the two articulated arms. Jaguar-Lite is fully wirelessly 802.11G connected. It integrates outdoor GPS and 9 DOF IMU (Gyro/Accelerometer/Compass) for autonomous navigation. Jaguar-Lite platform is rugged, light weight (< 14Kg), 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 JAGUARLite-ME Jaguar Lite 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-Lite robot. WiFi Antenna GPS and 9 DOF IMU (Gyro/Accelerometer/Compass) Recharging Socket Handle Bar Headlights Drive-Track Camera Headlights Power Switch Jaguar-Lite Platform Operation Scenario Diagram below illustrates the typical operation scenario. The Jaguar-Lite is a wireless networked outdoor mobile robot. It comes with a wireless 802.11 AP/router.
projected on the head-mounted display, where you could see all the sensor information from the robot, and the video streamed from the camera on robot (Please refer to “Jaguar Control program” session for detail). Head-mounted display (Optional) Gamepad Controller Portable PC (Host controller PC) (Optional) Typical Operation Scenario Note: The host controller PC running the “Jaguar Control” program could be mounted on the robot instead off the robot if your application requires so.
III. Operation of Jaguar-Lite Robot End user could develop his own Jaguar-Lite 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-Lite, and how to interpret, process, display and log multi-sensor information.
“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 Driving Motor Left Driving 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 Power 5V LAN Power 5V Antenna 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 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 track shaft Track-wheel motors (2 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.
Also you could read left and right track/wheel motor encoder in this event. private void myJaguar_CustomSensorEvent(object sender, EventArgs e) { // left track motor double tempM = Trans2Temperature((double)myJaguar.GetCustomAD5()); tempM = double.Parse(tempM.ToString("0.00")); lblTemp1.Text = tempM.ToString("0.00"); // right track motor tempM = Trans2Temperature((double)myJaguar.GetCustomAD6()); tempM = double.Parse(tempM.ToString("0.00")); lblTemp2.Text = tempM.ToString("0.00"); leftFrontWheelMotor.
Date and communication protocol could be found in “URG-04LX commspec_eg.pdf”. GPS GPS sensor output interface is RS232 serial port, and connected to WiFi module-2 port 2 after voltage level conversion. You could access the sensor data via TCP socket at port 10002 with IP 192.168.0.61. Default settings for the serial port are: 115200, 8, N, 1, no flow control, TCP, port number 10002 NMEA 0183 sentence is described in file “GPS18x_TechnicalSpecifications.pdf”. GPS configuration tool is SNSRXCFG_200.
