MyRio Based Robotic System With Vision & Path

Finder Using LABVIEW

Submitted at the end of semester VII in partial fulfillment of requirements
For the degree of

Bachelors in Technology

by

Vatsal Bavishi Roll No: 1622009

Harshal Bhole Roll No: 1412019
Ajay Chauhan Roll No: 1412010

Guide: Prof. Uday Chhatre

Department of Electronics Engineering

K. J. Somaiya College of Engineering, Mumbai-77
(Autonomous College Affiliated to University of Mumbai)

Batch 2015 -2019

 K. J. Somaiya College of Engineering, Mumbai-77
(Autonomous College Affiliated to University of Mumbai)

Certificate

This is to certify that the dissertation report entitled MyRio Based Robotic System

With Vision & Path Finder Using LABVIEW submitted by:

1. Vatsal Bavishi Roll No: 1622009

2. Harshal Bhole Roll No: 1412019
3. Ajay Chauhan Roll No: 1412010
at the end of semester VII of LY B. Tech is a bona fide record for partial fulfillment
of requirements for the degree of Bachelors in Technology in Electronics Engineering
of University of Mumbai.

_________________ _____________________
Guide Head of the Department

Date:
Place: Mumbai-77

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 K. J. Somaiya College of Engineering, Mumbai-77
(Autonomous College Affiliated to University of Mumbai)

DECLARATION

We declare that this written report submission represents the work done based on our and / or others
ideas with adequately cited and referenced the original source. We also declare that we have
adhered to all principles of intellectual property, academic honesty and integrity as we have not
misinterpreted or fabricated or falsified any idea/data/fact/source/original work/ matter in my
submission.

We understand that any violation of the above will be cause for disciplinary action by the college
and may evoke the penal action from the sources which have not been properly cited or from whom
proper permission is not sought.

_______________________ _______________________ ______________________

Signature of the Student Signature of the Student Signature of the Student

_______________________ _______________________ ______________________

Roll No. Roll No. Roll No.

Date:

Place: Mumbai-77

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 Abstract

Design and development of robotics applications has always been an ever advancing area of study
in the field of modern automation technology. The concept of introducing mobile robots in
familiarizing engineering technology students with various robotics problem solving approaches, is
widely being implemented for educational purpose nowadays. Path Planning and Collision
avoidance are two of the most common theories applied for designing and developing advanced
autonomous robotics applications.

The objective of this study is to develop a graphical programming model for the National
Instrument’s (NI) Robotic Starter Kit (DaNI) in NI LabView Robotics Platform that incorporates
mobile robot path planning and obstacle avoidance concepts. The LabView program enables the
mobile robot to travel from a starting point to a user desired destination point, avoiding undefined
obstacles on its route. This paper encompasses the scope to educate engineering technology students
with the robotics “Sense, Think and Act” approach where the robot senses for random obstacles on
its path via an ultrasonic sensor, makes a decision based on a non-colliding threshold distance in
order to execute collision avoidance routine and returns to the process of reaching the predefined
destination point. The motion of the robot is controlled by two pairs of mechanically geared wheels
driven by two DC Servo Motors..

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Contents

List of Figures……………………………………………………………………………. X

1 Introduction……………………………………………………………………... 1

1.1 Introduction……...………………………………………………………. 1

1.2 Background ………………………………………………………………. 2

2 Literature Survey………………………………………………………………. 3

2.1 Why this Project?......................................................................................... 3

2.2 Project Objectives………………………………………………………… 3

3 Project Construction…..……………………………………………………… 4

3.1 Finalized Robot..………...……………………………………………… 4

4 Software Architecture Design……………………………………………….. 5

4.1 Robot's Core Task Handling State Machine …………………………… 5

5 Hardware Components and Detailed Design……...………………………… 6

5.1 MyRIO Device.…………………………………………………………. 6

5.2 Battery…………………………………………………………………... 7

5.3 Flyback Converter for MyRIO Device…………………………………. 7

5.4 Sensors………………………………………………………………….. 8

5.5 DC Motor……………………..………………………………………… 8

5.6 Motor Driver……………………………………………………….…… 9

6 Conclusion…………………….……………………………………………… 10

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List of Figures
1.1 The Path of Travel for the Mobile Robot…………………………………………... 1

3.1 Finalized Robot…………………………..………………………………………… 4

4.1 Robot's Core Task Handling State Machine Diagram…………………….…......... 5

5.1 MyRIO Device…………………………………….………………………………. 6

5.2 Battery…………………..………………………………………………………… 7

5.3 Flyback Converter for MyRIO Device …………………………………………… 7

5.4 Sensors…………………………………………………………………………….. 8

5.5 DC Motor…………………………………. ……………………………………… 9

5.6 Motor Driver……………………….……………………………………………… 9

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 Chapter 1
Introduction

Here, we briefly discuss the background and ground root information for our Project –
“MyRio Based Robotic System With Vision & Path Finder Using LABVIEW” which helped
understand us our project and concepts regarding the same.

1.1 Introduction

Robotics has become one of the essential segments of modern automation systems.
Autonomous mobile robots are noticeably being used in various industrial and non-
industrial applications nowadays. The purpose of this project was to study the National
Instrument’s Robotic Starter Kit 1.0 (DaNI) and to develop a graphical programming model
in LabVIEW Robotics Module 2011 for combining mobile robot path planning and
collision avoidance concepts. The LabVIEW program enables the mobile robot to travel
from a user defined starting point A to a destination point B through avoiding undefined
1
obstacle on its route. The LabVIEW program is based on the “Sense, Think and Act”
concept where the robot senses for obstacles in its route by an ultrasonic sensor, makes a
decision to execute collision avoidance routine and returns to the process of reaching the
destination point. The motion of the robot is controlled by two pairs of mechanically geared
wheels driven by two DC Servo Motors. The figure below shows an example of the path of
travel for the mobile robot:

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1.2 Background

This system designed and implements the guidance navigation system for a four
wheeled mobile robot with ultrasonic sonar sensors and a National Instruments myRIO
Realtime controller. For controlling the motors LabVIEW code was developed with
PWM signals based on sensors feedback. Previously developed navigation system has
two electric motor driving the tracks on each side. Also it has two encoders for
providing speed to the drive wheels. The Guidance Navigation for ground vehicle
benifits increasing importance in various growing application areas. The specific focus
of this research is on use of LabVIEW to create GNC (Guidance Navigation &
Control) algorithm and use of MYRIO board to run the LabVIEW flow diagram real
time on ground vehicle. This embedded hardware device use for real time
implementation like performing task like detecting obstacle distance using sensor
detecting obstacle distance using sensor. The platform used for designing the GNC
algorithm should be user-friendly and have faster real time data collection and
interpretation so that the system is faster and quicker in generating response. The main
motivation of this research effort is to investigate and experiments alternative
programming and hardware development environments for the real time
implementation of the system. The vehicle systems and their application range has been
expanding over the years. This is also designed in the manner that it can be monitored
anywhere through internet. This system can be implemented for further use as we can
also update this robot to work as a vehicle which carries load in industries, laboratories
and factories. It can also be used physically by disabled populace, where they will be
proficient to control the movement of the vehicle with just their hand gestures without
others assistance.

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 Chapter 2
Literature Survey

In this chapter, we briefly discuss the literature survey we did by studying various
development leads offered in this area. We also found out the uses of MyRio based Robot.

2.1 Why this Project?

We decided on this project for these main reasons:

 Firstly avoiding the threat of collision.
 Creating an ease for a user as the robot is automatic.
 To create a product for the upcoming market and set a new market standard
 Lastly, the absence of such a product in India.

2.2 Project Objectives

The major goal of this project is to develop a completed autonomous robot which would be
including different objectives for robot's software and hardware system

This will be including:

• Building a robot base to carry all the hardware components.
• Implementing the MyRIO device and all the required sensors to the robot
• Developing LabVIEW programs to control the robot and achieve the required function

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 Chapter 3
Project Construction

Here, we briefly discuss the background and ground root information for our Project –
“Automatic Street Light Control using IoT” which helped understand us our project and
concepts regarding the same.

3.1 Finalized Robot

The final robot that will be constructed will look like the below given robot.

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 Chapter 4
Software Architecture Design

This chapter defines the software architecture of our project.

4.1 Robot's Core Task Handling State Machine

A state machine model has been developed for the robot as shown in the picture below. This model
encapsulates all of the actions that the robot is required to do as per the competitions requirements.
This model will be used to help implement the state machine design pattern in LabVIEW.

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 Chapter 5

Hardware Component and Detail Design

Here, we give a idea to all our Components, Modules and other peripherals which are
being used in the Project.

5.1 MyRIO Device

The NI MyRIO device is a highly integrated FPGA microcontroller device which has been designed
for students to learn about robotics and mechatronic systems. It supports the LabVIEW
reconfigurable I/O (RIO) architecture and can be programmed using the LabVIEW programming
language and development environment.

The MyRIO device will act as the processing unit for the robot which needs to handle the majority
of processing on the robot as required by the competition rules. Its interfaces include two sets of
Expansion Ports (MXP) and a Mini System Port (MSP) which contain an analog input channels, six
analog output channels and forty digital I/O channels as well as audio and power output. It can
connect to a host computer via USB or wireless 802.11bgn which is very convenient as it can be
programmed and controlled wirelessly. It also contains a programmable button and LEDs which can
be used to demonstrate simple programs. The device contains a dual-core ARM processor which
combines the software programmability of a processor with the hardware programmability of an
FPGA. Its processing power is more than adequate to handle the computations that will be required
by the autonomous robot. A picture below shows the layout of the National Instrument MyRIO
device.

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5.2 Battery

This is the battery that we’ve installed on our final robot, it’s a 12V 2200mAh battery which has a
rated continuous discharge current of 7.2AH, and could be able to support up to 40A surge current
for a short period of time (5 sec), according to its specifications. It comes with a size of 150 (L) x 65
(D) x 93 (H) mm with approximate weight of around 1 kilogram.

5.3 Flyback Converter for MyRIO Device

The flyback converter we will choose is a 5-25V Buck Boost DC Converter with a LED display that
could be able to show the voltage level of both input and output terminals. The diagram of this
converter is illustrated as below:

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5.4 Sensors
 Ultrasonic Sensors:
The ultrasonic sensor is used for obstacle detection. Ultrasonic sensor transmits the
ultrasonic waves from its sensor head and again receives the ultrasonic waves reflected from
an object.

 Proximity Sensors:
These are used for path finding.

5.5 DC Motor
• After detailed research of the available selections from internet and local market, we have
decided to select a 12V Gear DC Motor with 250RPM to be the main driver motor, with an
encoder feedback installed on the motor shaft.
• It could provide enough speed and power to drive the robot.

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5.6 Motor Driver
• Since the MyRIO device could not provide enough power to the motors mainly due to
current limit of the output supply, a motor driver is required to supply large power
consumption from DC motors.
• The power source of motors should be the battery itself, and the driver should be able to
provide the required power output as well as compatible to interface with the MyRIO device.
• A suitable motor driver board for the has been determined, which is the L298N Dual H
Bridge Motor Driver IC.
• This board would support 2 motor at 12V with a maximum current of 2A.

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 Chapter 6
Conclusion

Here, we plan to complete the Robot work in the next phase.

The collision avoidance and path planning concepts for autonomous mobile robot focused in this
research can play significant role in real life applications. In an industrial cleanroom environment,
special clothing of human operators does not completely avoid contamination. In this case a mobile
robot can perform the tasks inside a cleanroom reducing the risk of any contamination from
outside.

In non-industrial applications such as emergency situations or space mission where it can be

risky for humans, mobile robots can be used to collect information and data for rescue or
scientific research.

The purpose of this study was to come up with some fundamental programming concepts with
LabVIEW robotics programming environment for the mechatronics students

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