Victor Mitselmakher

1

• Victor Mitselmakher
• IMDL EEL5666 Summer 2002
• Self-Centering Autonomous Bulldozer (SCAB)
• August 6, 2002

2
Microcontroller

• Rabbit 2000
• JackRabbit BL1810

3
Integrated System

4
Difficulties Encountered

• First robot based on Rabbit 2000
• Learning Rabbit 2000 / Z-180 Assembly
• Learning the Rabbit 2000 subsystems
• Designing the PWM system
• Faulty Sonar
• Unreliable Electronic Compass

5
Limitations

• Compass sometimes unpredictable
• Wheel encoder distance measurement
• Return behavior

6
Conclusion

• Lots and lots of hours spent
• Rabbit 2000 learned
• Example code to build on