Com Project_gps guided car

8/15/2019 Com Project_gps guided car

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Course No : EEE 310

Course Name: Communication Laboratory

‘

Submitted To:

Md. Hadiur Rahman Khan

Lecturer, EEE Department

BUET

Project Name :gps guided car

Date of Submission : 04/06/2016

Student ID: 1206017-24

Group NO : 03


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Abstract:

The future of transport is self-driving cars. Advances in the use of GPS mean that

the technology could not only emerge in the next few years, but is already beingroad tested by companies such as Google. There will come a time when you go

down the highway and you don't have to have your hand on the steering wheel at

all. It'll be a combination of GPS, radar and other sensors. GPS also has massive

implications in military intelligence.

What we have tried to show in our experiment is a basic version of the paradigm

shifting technological advancement that will have unnerving implications in

driving safety and comfort. While driving on low traffic roads we might not haveto touch our steering wheels at all. We have used a combination of a GPS module,

accelerometer and processing via Arduino Mega to guide the drive of the car.


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Component List

1. Arduino Mega

2. GPS module

3. 6-axis Accelerometer

4. LCD display

5. DC Motor

6. Arduino Shield

7. 3 cell Lithium-Polymer battery

Some components of the experiment which deserve special

mention are:

Arduino Mega :

The Mega 2560 is a microcontroller board based on the ATmega2560.We used

this as the processing unit of the car.It has 54 digital input/output pins (of which

15 can be used as PWM outputs), 16 analog inputs, 4 UARTs (hardware serial

ports), a 16 MHz crystal oscillator, a USB connection, a power jack, an ICSP

header, and a reset button.

https://www.google.com/url?sa=i&rct=j&q=&esrc=s&source=images&cd=&cad=rja&uact=8&ved=0ahUKEwi595PA3Y3NAhUjSY8KHasSDckQjRwIBw&url=http://makerflux.com/wiki/electronics-wiki/development_boards/arduino/boards/arduino-mega-adk/&psig=AFQjCNEVAB8L3JWD5GPcmszrrcns5LYAig&ust=1465107658397337


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GPS Module : ( GY-GPS 6Mv2)

This GPS is a very capable GPS for the price and size. Compatible with UART

capable devices including Arduino, Raspberry Pi, and MSP430. We have a

customized and tested Arduino library for this GPS module

6-axis Accelerometer (MPU 6050)


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The MPU-6050 devices combine a 3-axis gyroscope and a 3-axis accelerometer

on the same silicon die, together with an onboard Digital Motion Processor™

(DMP™), which processes complex 6-axis MotionFusion algorithms. The device

can access external magnetometers or other sensors through an auxiliary

master I²C bus, allowing the devices to gather a full set of sensor data without

intervention from the system processor.

Adruino Shield :

We have designed a custom Arduino shield which contains on board motor

driver using L293D IC , an onboard buck module. This also contains a full

interfacing media with 16X2 LCD display .


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Working principle

GPS Module SatellitePosition Mapping and

Accelerometer Data

Error Calculation

and further

movement

Movement using PIDcontrol

Arduino Megaprocessor


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When the GPS module is powered up , it sends signals to a number of

satellites in close proximity. After receiving data of its positions from

several satellites it determines its precise location and it automatically

conveys its latitude, longitude and angle inclination to the ArduinoMega processor. Based on control code and proportional integral

derivative (PID) calculations Arduino controls the movement of the

motor such that it advances towards the target position we have

initialized. The accelerometer continuously analyzes and senses data to

the Arduino Mega in order to control speed, acceleration and motor

rotations.

Arduino Code#include

#include

#include

#include

LiquidCrystal lcd(47, 43, 33, 31, 29, 27);

#define HMC5883_WriteAddress 0x1E

#define HMC5883_ModeRegisterAddress 0x02

#define HMC5883_ContinuousModeCommand 0x00

#define HMC5883_DataOutputXMSBAddress 0x03

#define pi 3.1416

#define Right_en 9

#define Left_en 6


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#define Right_1 10

#define Right_2 8

#define Left_1 4

#define Left_2 50

TinyGPSPlus gps;

volatile float current_latitude=0,current_longitude=0;

//float target_latitude=23.7252,target_longitude=90.3922; //aula; angle=270~290(latest)

//float target_latitude=23.7249,target_longitude=90.3922; //aula road, angle=165~180

//float target_latitude=23.7260,target_longitude=90.3880; // jidpus motorcycle,

angle=270~290(latest)

float target_latitude=23.72610,target_longitude=90.38835; //towards jidpus, angle= 155~160(latest)

float latitude_difference=0,longitude_difference=0;

float prev_latitude=0,prev_longitude=0;

float x1,y1;

int regb=0x01;

int regbdata=0x40;

int outputAngle[6];

int x=0,y=0,z=0,i=0,j=0,k=0,l=0,m=1,n=0;

float CompassAngle=0;

float target_angular_positon=0;

int correction_L=0;

int correction_R=0;

int Max_L=225,Max_R=230;


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int TrigPin=2;

int EchoPin=3;

int Error=0;

int LeftPulse=0,RightPulse=0;

int timer1_counter;

int count=0;

void setup()

{

Serial.begin(9600);

Serial3.begin(9600);

Wire.begin();

pinMode(Right_en,OUTPUT);

pinMode(Left_en,OUTPUT);

pinMode(Right_1,OUTPUT);

pinMode(Right_2,OUTPUT);

pinMode(Left_1,OUTPUT);

pinMode(Left_2,OUTPUT);

pinMode(TrigPin,OUTPUT);

pinMode(EchoPin,INPUT);

lcd.begin(16, 2);


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lcd.print("GPS GUIDED ROVER");

delay(5000);

lcd.clear();

noInterrupts();

TCCR1A = 0;

TCCR1B = 0;

timer1_counter = 49911; // preload timer 65536-16MHz/1024/1Hz

TCNT1 = timer1_counter; // preload timer

TCCR1B |= (1


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void loop()

{

for (k=0;k


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MotorDrive(LeftPulse,RightPulse);

GPSRead();

if ( (abs(target_latitude-current_latitude))


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lcd.print(" ");

lcd.print(target_angular_positon);

lcd.setCursor(10, 1);

lcd.print(" ");

lcd.print(CompassAngle);

}

MotorStop();

lcd.clear();

while(1)

{


lcd.print(current_latitude*1e4);


lcd.print(current_longitude*1e4);

}

}

void GPSRead()

{

n=1;

while(n)

{

while (Serial3.available() > 0)

if (gps.encode(Serial3.read()))


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{

if (gps.location.isValid())

{

current_latitude=gps.location.lat();

current_longitude=gps.location.lng();

n=0;

}

else

{

Serial.println("Searching....");

lcd.setCursor(1,0);

lcd.print("Searching....");

}

}

}

if (millis() > 5000 && gps.charsProcessed() < 10)

{

Serial.println("No GPS detected: check wiring.");

while(true);

}

}

void CompassRead()

{


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Wire.beginTransmission(HMC5883_WriteAddress);

Wire.write(regb);

Wire.write(regbdata);

Wire.endTransmission();

delay(100);

Wire.beginTransmission(HMC5883_WriteAddress); //Initiate a transmission with HMC5883 (Write

address).

Wire.write(HMC5883_ModeRegisterAddress); //Place the Mode Register Address in send-buffer.

Wire.write(HMC5883_ContinuousModeCommand); //Place the command for Continuous operation

Mode in send-buffer.

Wire.endTransmission(); //Send the send-buffer to HMC5883 and end the I2C transmission.

delay(100);

Wire.beginTransmission(HMC5883_WriteAddress); //Initiate a transmission with HMC5883 (Write

address).

Wire.requestFrom(HMC5883_WriteAddress,6); //Request 6 bytes of data from the address specified.

delay(500);

//Read the value of magnetic components X,Y and Z

if(6


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x=outputAngle[0]


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correction_R=0;

if ((Error=0))

correction_L=Error*Max_L/90;

else if((Error-360))

correction_L=(Error+360)*Max_L/90;

else

{

correction_L=Max_L;

correction_R=30;

}

}

else if ((Error>=180 && Error270 && Error


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void MotorDrive(int LeftPulse, int RightPulse)

{

analogWrite(Right_en,LeftPulse);

analogWrite(Left_en,RightPulse);

digitalWrite(Right_1,HIGH);

digitalWrite(Right_2,LOW);

digitalWrite(Left_1,HIGH);

digitalWrite(Left_2,LOW);

}

Potential Applications

Many civilian applications use one or more of GPS's three basic components:

absolute location, relative movement, and time transfer. Here are a few possible

civilian and military implementations of the concept used in our project:

Automated vehicle: applying location and routes for cars and trucks to

function without a human driver.

Geofencing: vehicle tracking systems, person tracking systems, and pet

tracking systems use GPS to locate a vehicle, person, or pet. These devices

are attached to the vehicle, person, or the pet collar.

Missile and projectile guidance: GPS allows accurate targeting of various

military weapons including ICBMs, cruise missiles, precision-guidedmunitions and Artillery projectiles. Embedded GPS receivers able to

withstand accelerations of 12,000 g or about 118 km/s2 have been

developed for use in 155-millimeter (6.1 in)


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Com Project_gps guided car