Field Navigational GPS RobotFinal Presentation & ReviewChris Foley, Kris Horn, Richard Neil Pittman, Michael Willis

Problem BackgroundPurpose: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.

Needs StatementProvide vehicle capable of following a specified pathProvide a platform that can be used for:Information Gathering Remote PresenceEnvironmental SurveyProvide a learning experience for the team

GoalsInterface 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.

Environmental & Societal ImpactEffects on WarfareUsed for mine detectionRemoving humans from dangerSafety & Environmental ConcernsMinimalCareful Path selection to prevent collisionProper disposal of battery packsProper Maintenance of electrical components

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.

ComponentsStampede Monster TruckMotorSteering Servo OOPic-S boardOOpicII microcontrollerOOPic software

ComponentsGarmin GPS 15 + antenna Electronic compass

ComponentsSonar SensorsLCD

Navigation SystemInputs: 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

System Design

Printed Circuit Board

Navigation SystemPI algorithmMATLAB Simulation

MATLAB example

Object DetectionTwo sonar sensors on front of HerbieDetermine location of obstacles depending on sonar readingRange up to 10 ft.

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

Considerations and DifficultiesGPS accuracy approximately 10 ft.Coordinate rangeddmm.mmmm -> dd.ddddddSurface traveled, throttle problemsDifficulties with integrating h-brdigesLimitations with OOPicLimited memory spaceNo decimals or negative numbersLimited functionality

Golf Course Data

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Sheet2

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