The Trailblazer

Posted on by Steven McDermott

Team Name

The Automata Crusaders

Timeline

Fall 2024 – Spring 2025

Students

  • Hoai Dinh – Computer Science
  • Jose Gonzalez – Computer Science
  • Arvin Saju- Computer Engineering
  • Parth Sharma – Computer Science
  • Andy Tran – Computer Engineering
  • Jane Wang – Computer Science

Abstract

The Trailblazer is a system that performs autonomous navigation throughout the Engineering Research Building (ERB), designed for the building itself and the people there. Users of the Trailblazer will be able to task it with finding and navigating a path from a spot in the ERB to another location within the building through the User Interface Layer.

The Trailblazer should be able to observe and analyze the status of its current environment using its sensors in the Perception Layer, including a LiDAR for navigation and an odor sensor that monitors the air quality around it. It should then determine the best path from its current position to the destination through the Software Control Layer.

Finally, it should be able to navigate to the target location following the determined path using the Actuation Layer. If at any point the air quality around the rover drops below a certain threshold, it should apply an air freshener as needed.

Background

College campuses, buildings, and classrooms often suffer from poor air quality due to the large number of students that are often present in confined spaces. This can be a major issue for the comfort of many students that have to experience the unpleasant smells that result from the poor air quality.

However, currently existing ways to resolve this predicament are either inefficient, expensive or inconvenient. For instance, installing more ventilation would be a viable option, but it requires significant costs in time and money for installation and maintenance. Another potential solution is by having more frequent cleaning by janitorial staff throughout the day. The issue here is that it introduces more traffic and obstructions throughout campus which would be inconvenient for students and staff.

By improving air quality throughout campus without resorting to expensive or inconvenient methods, it is possible to significantly improve comfort for the students and faculty in these college campuses effectively. The widespread nature of this issue was brought to our attention through the personal experiences of the developers as well as discussions with fellow peers and faculty members.

In order to address this issue, our team plans to create an autonomous indoor rover capable of navigating campus buildings with air quality sensors onboard as well as an air freshening system. This air freshening system would allow the rover to freshen the air as it detects poor air quality while navigating campus buildings.

Project Requirements

  • Autonomous Navigation
    • The Trailblazer should be able to autonomously navigate from one location within the ERB to another location without external assistance. This includes determining the best path from its current position to the destination, and also adjusting for any obstacles encountered.
    • Priority: Critical
  • Environment Analysis
    • The Trailblazer should be able to observe and analyze the status of its current environment using its sensors. Strategies and processes utilized for this will involve SLAM (Simultaneous Localization and Mapping) and LiDAR (Light Detection and Ranging) [1]. This will allow the Trailblazer to determine a correct path and navigate the current space it is in. In addition, the air quality sensor will be monitoring the air quality continuously to ensure it does not drop below the expected levels.
    • Priority: Critical
  • Mitigating Poor Air Quality
    • Applying a replaceable air freshener can on the Trailblazer designed to specifically help reduce issues associated with poor air quality. If the air quality sensor detects a drop in quality, the spray controller will activate the air freshener dispenser.
    • Priority: Critical
  • Laboratory equipment lockout/tagout (LOTO) procedures
    • Any fabrication equipment provided used in the development of the project shall be used in accordance with OSHA standard LOTO procedures. Locks and tags are installed on all equipment items that present use hazards, and ONLY the course instructor or designated teaching assistants may remove a lock. All locks will be immediately replaced once the equipment is no longer in use.
    • Priority: Critical
  • National Electric Code (NEC) wiring compliance
    • Any electrical wiring must be completed in compliance with all requirements specified in the National Electric Code. This includes wire runs, insulation, grounding, enclosures, over-current protection, and all other specifications.
    • Priority: Critical
  • Availability of Source Code
    • Complete source code of various components of the Trailblazer must be available for future computer science and engineering students at the University of Texas at Arlington.
    • Priority: High
  • Required Manuals and Documentation
    • Since there will be varying systems involved within the Trailblazer, it will be necessary to have all relevant documentation. The RoboClaw 2x15A Motor Controller will be used for motor control. This means that the documentation provided by the manufacturer will be necessary for maintenance or troubleshooting related to this. The documentation for the motor controller can be found on the Basicmicro website.
    • Priority: High
  • Trailblazer Fluid Motion
    • The Trailblazer should navigate fluidly without stutter-stepping. This will ensure that the Trailblazer does not become a hazard in the environment and is able to arrive at the destination in a timely manner.
    • Priority: Moderate
  • Trailblazer Power Consumption
    • The Trailblazer’s power source will be from batteries. This will allow the Trailblazer to function without being plugged in. The power consumption should be minimized to at least last 4-5 hours. This will allow the Trailblazer to navigate and reach its destination without shutting down while and after pathing. This ensures that the Trailblazer can be utilized again afterwards without the inconvenience of charging batteries before every use.
    • Priority: Low
  • User Installation & Setup
    • If applicable, any necessary software for operating the Trailblazer should be pre-installed or included in the package, possibly on a USB drive or available via download.
    • If any assembly is required, detailed instructions should be included in an accessible format, such as a printed manual or a QR code linking to a video tutorial.
    • Priority: Low

Design Constraints

  • Constructability
    • Clearly specify the hardware and software requirements necessary for the Trailblazer’s installation and operation. This ensures users have the necessary infrastructure before setup.
  • Functionality
    • The information recorded and stored in the rover must not use more than the maximum memory limit of the Trailblazer’s processor.
  • Safety & Welfare
    • Depending on what is observed from the environment, the Trailblazer may have to halt movement to avoid collisions.
  • Public Health
    • Any aerosol air freshener utilized will not be overused nor will it be sprayed in such a manner that causes potential health risks to individuals.
  • Standards
    • Equipment usage, due to lock removal policies following the Occupational Safety and Health Standards 1910.147 – The control of hazardous energy (lockout/tagout), will be limited to availability of the course instructor and designated teaching assistants.
  • Maintainability
    • Components that are frequently modified or replaced should be accessible without the need for specialized tools like batteries. Replacement parts must be compatible with existing system architecture to ensure seamless integration.
  • Marketability
    • Maintain a consistent brand identity across all packaging elements. This involves adhering to a brand style guide that specifies typography, color schemes, and logo placement to ensure uniformity

Engineering Standards

  • IEEE 1872 – Standard for Ontologies for Robotics and Automation ISO 21254 – Test methods for determining the laser-induced damage
  • ISO/IEC 41:2018 : Packaging – Recommendations for addressing consumer needs
  • ISO/IEC 25002:2024 : Follow software quality standards that emphasize usability, reliability, and functionality during installation.
  • NFPA 70
  • Modular Design Standards: Adhere to industry standards for modular design, allowing components to be easily added or removed.

System Overview

The perception layer is responsible for allowing the rover to perceive the environment that it is in and react accordingly. This includes all systems or sensors that may be used for obstacle detection and finding the current position of the rover. The subsystems included in this layer are the LiDAR Sensor, camera, and odor sensor. The camera is not used in obstacle detection, but rather streams video to the user interface to allow for remote control.

The second major layer of the rover is the movement layer. The movement layer is responsible for any physical interaction between the rover and the environment. This includes allowing the rover to move from one location to another as controlled by either the autonomous navigation systems or the user’s input. This segment of the layer consists of four motors, one for each wheel of the rover, and a motor controller system. The other segment of the actuation layer dispenses air freshener, by mechanically triggering the air freshener can, upon receiving the command to do so. This second segment consists mainly of the spray mechanism.

The third major layer is the layer that connects the two previous layers. The Software Control Layer serves as the interface between the hardware components (sensors, motors, etc.) and the high-level mission objectives, ensuring that the rover can perform tasks such as mapping, obstacle avoidance, and path planning. This layer takes the information provided by the perception layer and uses it to control the movement layer of the rover allowing it to navigate.

The final major layer is the user interface layer. This layer provides a user-friendly GUI for operators of the rover. Users should be able to monitor the rover using its camera feed and the map generated by the Software Control Layer. They should also be able to control the rover in both automatic navigation mode and manual control mode from the user interface.

Results

The Trailblazer was able to map the surrounding area and navigate autonomously. It applied air freshener as needed when it detected a drop in air quality. Operators could monitor the Trailblazer and move it in manual control mode using the provided web interface.

Future Work

  • Packaging Design and Components
  • Branding
  • Easy Modification

Project Files

Project Charter
System Requirements Specification
Architectural Design Specification
Detailed Design Specification
Poster
Closeout Materials

References

[1] MathWorks, “What Is SLAM? – Simultaneous Localization and Mapping,”
https://www.mathworks.com/discovery/slam.html, 2024, [Accessed 04-30-2025].

Steven McDermott

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