BATTLE MOBILE ROBOT USING A ROBOTIC LASER-TAG GAME SYSTEM
By Jesse Naftali
11110043
BACHELOR’S DEGREE in
MECHANICAL ENGINEERING - MECHATRONICS CONCENTRATION FACULTY OF ENGINEERING AND INFORMATION TECHNOLOGY
SWISS GERMAN UNIVERSITY EduTown BSD City
Tangerang 15339 Indonesia
January 2015
Revision after the Thesis Defense on 15th January 2015
Jesse Naftali STATEMENT BY THE AUTHOR
I hereby declare that this submission is my own work and to the best of my knowledge, it contains no material previously published or written by another person, nor material which to a substantial extent has been accepted for the award of any other degree or diploma at any educational institution, except where due acknowledgement is made in the thesis.
Jesse Naftali
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Student
Date
Revision after the Thesis Defense on 15th January 2015
Approved by:
Erikson F. Sinaga, ST,M.Kom
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Thesis Advisor
Date
Dr.Ir.Gembong Baskoro,M.Sc.
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Dean
Date
Jesse Naftali ABSTRACT
DESIGNING AND CONSTRUCTING A WIRELESS CONTROLLED BATTLE MOBILE ROBOT USING A ROBOTIC LASER-TAG GAME
SYSTEM
By Jesse Naftali Erikson F. Sinaga, ST,M.Kom
SWISS GERMAN UNIVERSITY
This thesis is about four wireless controlled robots that can move and shoot laser beams to their opponents weakness points to play a Robotic Laser-Tag game. Each robot has different life points that will decrease as their weakness points take hits from laser beams. Once the robot has no life point left they are “DEAD”. The goal for each robot is to kill the whole opponents team members in order to obtain scores.
Each robot has different specifications by its components of actuator. A laser-Tag robot consists of nine primary parts :
1.Microcontroller Board, 2.Mobilizer, 3.Crosshair, 4.Batteries, 5.Weakness Point, 6.
Life Point Display, 7.Controller, 8.Mechanical Hardware, 9. Laser-Tag Arena.
A microcontroller Board controls a robot movements. The robots moving parts consist of robot movement parts (mobilizer) and laser controlling (crosshair) parts which use Pulse With Modulation (PWM) control. Light sensors attached inside the Weakness Point to trigger the Life Display and will show the decreased life points every time it is hit by a laser beam. The power supply is provided by the batteries. A laser-Tag Arena consists of a flexible arena walls, a scoreboard and a sound system for a battle atmosphere purposes.
Keywords : Servo, Arduino, LDR, Laser, PWM, Life Counting System.
Jesse Naftali
© Copyright 2015 by Jesse Naftali All rights reserved
Jesse Naftali DEDICATION
I dedicate this thesis to the Almighty Jesus Christ, my family, my friends, my advisors and the future developer of the Robotic Laser-Tag game.
Jesse Naftali ACKNOWLEDGEMENTS
This thesis would never have been finished if the author was all by himself. First, the author would like to express deep gratitude to the Almighty God for Thy mercy, guidance, and kindness so that the author could finish this thesis.
The author would like to thank his advisor Erikson F. Sinaga, ST,M.Kom for his patience and guidance to support the author to finish this work. The author would like to give a grateful thanks to his mother for her patience and hardwork all the time for helping the author to obtain materials and components of this work.
The author would like to extend his thanks to his best friend Henry Gunawan Hartanto for his design improvement and full time support until the author finished this thesis.
Finally, the author wishes to thank all his friends for their support and advice for the thesis.
Jesse Naftali
STATEMENT BY THE AUTHOR ... 2
ABSTRACT ... 3
DEDICATION ... 5
ACKNOWLEDGEMENTS ... 6
TABLE OF CONTENTS ... 7
LIST OF FIGURES ... 10
LIST OF TABLES ... 12
CHAPTER 1 - INTRODUCTION ... 13
1.1 Background ... 13
1.2 Thesis Purpose ... 14
1.3 Thesis Scope ... 14
1.4 Thesis Problem ... 15
1.5 Thesis Structure ... 15
CHAPTER 2 - LITERATURE REVIEW ... 16
2.1 Introduction ... 16
2.2 Laser Tag Game ... 16
2.2.1 History ... 16
2.2.2 Specialty games ... 17
2.2.3 Laser Tag Equipment and Technology ... 18
2.2.4 Tournaments and Competitions ... 18
2.3 Robotic Laser-Tag ... 20
2.3.1 Definition ... 20
2.3.2 Rules ... 20
2.3.3 Laser-Bot Specifications ... 22
2.4 Related Robotic Laser-Tag Projects ... 22
2.4.1 Turtlebot Laser Tag ... 22
2.4.2 The Bug-Bot ... 25
2.4.3 Explorer-Bot ... 27
2.4.4 Famosa Studio Robotik Kit (FSRB) with PS2 Wireless control ... 31
2.4.5 Discussion About the Adapted Method ... 33
2.5 Technical Component Used in Robotic Laser-Tag Project ... 34
2.5.1 Arduino Mega 2560 ... 34
2.5.2 Geared DC Motors ... 36
2.5.3 Servo Motors ... 36
Jesse Naftali
2.5.6 7-segment LED ... 40
CHAPTER 3 – METHODOLOGY ... 41
3.1 Introduction ... 41
3.2 System Overview ... 42
3.3 Process Block Diagram ... 43
3.4 Mechanical Design ... 44
3.4.1 First Robot, P1S-246DS Pegasus ... 45
3.4.2 Second Robot, H2T-66.7SS Hydra ... 46
3.4.3 Third Robot, D3S-115DS Dragon ... 47
3.4.4 Fourth Robot, G4T-67SS Golem ... 48
3.4.5 Arena ... 50
3.4.6 Torque Calculation ... 52
3.5 Electrical Design ... 56
3.5.1 Electrical System Overview ... 56
3.5.2 Microcontroller Board ... 57
3.5.3 Motor Driver ... 58
3.5.4 Wireless Controller ... 58
3.5.5 Life Counting System components ... 59
3.5.6 Bump Sensor ... 60
3.5.7 Power Supply ... 60
3.5.8 Electrical Components of the Arena ... 62
3.5.9 Wireless Module ... 64
3.6 Programming Design ... 65
3.6.1 Robot Movement Controller ... 68
3.6.2 Life Counting System ... 69
3.6.3 Wireless communication Between Robots and Arena ... 70
3.6.4 Scoreboard Display Program ... 74
3.7 Sound Systems ... 75
CHAPTER 4 – RESULT AND DISCUSSION ... 76
4.1 General result of the Robots... 76
4.1.1 Robot Body and Material Change ... 77
4.1.2 Robots Movement Testing Data ... 78
4.1.3 Electrical Result ... 80
4.1.4 Programming Result ... 85
4.1.5 LDR Reliability Test ... 88
Jesse Naftali
4.4 Result of the Third Robot, D3S-115DS Dragon ... 93
4.5 Result of the Fourth Robot, G4T-67SS Golem ... 94
4.6 Result of the Arena ... 95
4.7 Game Testing ... 99
CHAPTER 5 - CONCLUSION AND RECOMMENDATION ... 102
5.1 Conclusion ... 102
5.2 Recommendations ... 103
GLOSSARY ... 104
REFERENCES ... 105
APPENDICES ... 107
APPENDIX A -Technical Drawing ... 107
APPENDIX B - Program Code ... 117
B.1 Pegasus ... 117
B.2 Hydra ... 126
B.3 Dragon ... 137
B.4 Golem ... 146
B.5 Arena ... 155
APPENDIX C- Data Sheets ... 165
C.1 DC Motor ... 165
C.2 Servo Motors ... 173
C.3 Arduino Mega 2560 ... 175
C.4 Motor Shield ... 182
C.5 7-Segment LED ... 183
C.6 Laser pointer ... 184
C.7 LDR ... 185
C.8 PS2 Wireless Controller ... 187
C.9 Power Transistor ... 194
C.10 Wireless Module ... 198
C.11 Music Module ... 199
APPENDIX D – Bill of Material ... 203
CURRICULUM VITAE ... 204
