1 / 23

Field Navigational GPS Robot Final Presentation & Review

Field Navigational GPS Robot Final Presentation & Review. Chris Foley, Kris Horn, Richard Neil Pittman, Michael Willis. Problem Background. Purpose: Design and construct a vehicle capable of navigating to a sequence of global coordinates.

galvin-hatfield
Download Presentation

Field Navigational GPS Robot Final Presentation & Review

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Field Navigational GPS RobotFinal Presentation & Review Chris Foley, Kris Horn, Richard Neil Pittman, Michael Willis

  2. Problem Background • Purpose: • Design and construct a vehicle capable of navigating to a sequence of global coordinates. • Learn how to integrate components including GPS, compass, and vehicle into a working system.

  3. Needs Statement • Provide vehicle capable of following a specified path • Provide a platform that can be used for: • Information Gathering • Remote Presence • Environmental Survey • Provide a learning experience for the team

  4. Goals • Interface micro-controller with GPS & RC vehicle. • Vehicle will be sturdy enough to cover mostly flat terrain while carrying a payload of electronic equipment including the GPS. • Vehicle will be able to establish its own location on earth and use information from the GPS to navigate to a user defined point. • Vehicle will be able to avoid small obstacles in its path.

  5. Environmental & Societal Impact • Effects on Warfare • Used for mine detection • Removing humans from danger • Safety & Environmental Concerns • Minimal • Careful Path selection to prevent collision • Proper disposal of battery packs • Proper Maintenance of electrical components

  6. Management • Kris Horn : GPS and hardware integration. • Chris Foley: Software design, GPS interfacing. • Neil Pittman: PIC Microcontroller specialist and hardware design. • Michael Willis: Software design, board design.

  7. Components • Stampede Monster Truck • Motor • Steering Servo • OOPic-S board • OOpicII microcontroller • OOPic software

  8. Components… • Garmin GPS 15 + antenna • Electronic compass

  9. Components… Sonar Sensors LCD

  10. Navigation System • Inputs: destination and current GPS coordinates (longitude and latitude), compass heading, steering commands (from collision avoidance system) • Outputs: steering control commands, speed control commands, coordinate reading

  11. System Design

  12. Printed Circuit Board

  13. Navigation System… • PI algorithm • MATLAB Simulation

  14. MATLAB example

  15. Object Detection • Two sonar sensors on front of Herbie • Determine location of obstacles depending on sonar reading • Range up to 10 ft.

  16. Velocity Control Due to hardware issues and last minute setback of the drive system we resorted to modifying a RC speed control system for the OOPic to control the speed of the car

  17. Considerations and Difficulties • GPS accuracy approximately 10 ft. • Coordinate range • ddmm.mmmm -> dd.dddddd • Surface traveled, throttle problems • Difficulties with integrating h-brdiges • Limitations with OOPic • Limited memory space • No decimals or negative numbers • Limited functionality

  18. Golf Course Data

  19. Lessons Learned • Autonomous navigation is a difficult problem • Engineering solutions from limited resources • Additional upstream development will reduce design problems later • Not every solution to a problem is immediately obvious

  20. Looking to the Future • More Complicated problems will require more computing power • Improvements in User Interface • Mission specific hardware and modification

  21. The End

More Related