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Autonomous GPS robot

Autonomous GPS robot. Group 6 Adrian Glover Linda Ekhator Marvin Basa Advisor: Dr Cox. Project objective.

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Autonomous GPS robot

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  1. Autonomous GPS robot Group 6 Adrian Glover Linda Ekhator Marvin Basa Advisor: Dr Cox

  2. Project objective To design and build an autonomous robot capable to navigate an outside area of approximate size of the TTU R4 parking lot by guidance of a GPS sensor. The GPS data readings are to be used for navigation in a software driven algorithm. The Texas Instruments MSP430 microcontroller is to be used to communicate with the GPS and to control the robot’s steering and speed.

  3. Parts Used • TI MSP-FET430P1232 • Garmin GPS 35 • Sipex SP3223E • Switching regulator • L298 motor controller kit / H-bridge • Miscellaneous/ passive circuits

  4. TI’S MSP430F1232 • The MSP430 family of ultra-low-power 16-bit RISC mixed-signal processors from Texas Instruments provides the ultimate solution for battery-powered measurement applications.

  5. GPS Receiver • Transmits data in ASCII format at 9600 baud • Designed for use in automobiles • data contains the GPS coordinates

  6. Our Transceiver • SP3223E • Power supplies: +3.0V to +5.5V • RS-232 drivers/receivers: 2/2 • External components: 5 capacitors • 20 pins • Data rate: minimum 250 kbps

  7. The H-Bridge • Is a chip that consists of 4 bipolar junction transistors (BJT’s). • There are 2 pairs • Each pair consists of 2 BJT’s, 1 PNP, and 1 NPN BJT connected in series with each other while both pairs are connected in parallel. • the output of each pin is connected to the DC motor.

  8. Switching Regulator MAX640 • 9.6V Input • 3.3V Output • Powers MSP430 and SP3223E • ~95% efficiency

  9. Block diagram

  10. Navigation Algorithm • Equation of a line between two points • Distance a from point to a line • Gives a varying tunnel system without use of trig. functions

  11. GPS Simulator

  12. Problems encountered • Delay on project due to limited number GPS and MSP430s • Lack of useful laptops from the calibration room • 0x1000 (~4kb) C & object code limitation on the IAR workbench • Weather conditions.

  13. Our tank

  14. Statistical Evaluation of GPS data • Evaluated Data sets for Groups 1, 2, and 6 • Calculated mean, variance, standard deviation, covariance, correlation coefficient, skewness, and kurtosis

  15. General Budget

  16. Current budget

  17. Gantt chart

  18. Reference • http://www.colorado.edu/geography/gcraft/notes/gps/gps_f.html • http://www.hvwtech.com/pages/products_view.asp?ProductID=68&CurPage=2 • http://focus.ti.com/mcu/docs/overview.tsp?familyId=342&templateId=5246&navigationId=11466&path=templatedata/cm/mcuovw/data/msp430_ovw&DCMP=TIHomeTracking&HQS=Other+OT+home_p_micro430 • Past projects, Texas Tech University, department of engineering.

  19. Questions ???

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