Field Navigational GPS Robot Final Presentation & Review Chris Foley, Kris Horn, Richard Neil Pittman, Michael Willis.
Dec 21, 2015
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- Slide 1
- Field Navigational GPS Robot Final Presentation & Review Chris Foley, Kris Horn, Richard Neil Pittman, Michael Willis
- Slide 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.
- Slide 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
- Slide 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.
- Slide 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
- Slide 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.
- Slide 7
- Components Stampede Monster Truck Motor Steering Servo OOPic-S board OOpicII microcontroller OOPic software
- Slide 8
- Components Garmin GPS 15 + antenna Electronic compass
- Slide 9
- Components Sonar SensorsLCD
- Slide 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
- Slide 11
- System Design
- Slide 12
- Printed Circuit Board
- Slide 13
- Navigation System Navigation System Path Navigator Heading Navigator GPS Compass Obstacle Avoidance Sonar Steering Control Motor Control PI algorithm MATLAB Simulation
- Slide 14
- MATLAB example
- Slide 15
- Object Detection Two sonar sensors on front of Herbie Determine location of obstacles depending on sonar reading Range up to 10 ft.
- Slide 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
- Slide 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
- Slide 18
- Golf Course Data
- Slide 19
- Slide 20
- Slide 21
- 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
- Slide 22
- Looking to the Future More Complicated problems will require more computing power Improvements in User Interface Mission specific hardware and modification
- Slide 23
- The End
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