Project Lab 3331002 Project 2: GPS Controlled Vehicle 12072004

1
Project Lab 3331-002Project 2GPS Controlled
Vehicle12/07/2004

• TEAM MEMBERS
• Mohamed Elsayed
• Mahmood Subhani
• ADVISOR
• Dr. Krompholz

2
Goals to Achieve

• Design and build an autonomous robot capable to
  navigate an outside area of approximate size of
  TTU R4 parking lot by guidance of a GPS sensor.
• Determine Accuracy of GPS sensor and implement
  methods.
• Establish the stability of the navigation system
  over 10 minute and 24 hour time frames.
• Smooth and straight operation of the vehicle on
  an East-West and North-South heading.

3
Components Acquired and/or Assembled

• MSP 430-F149 Microcontroller
• Garmin GPS Unit
• Maxim 3222 Transceiver
• Maxim 3.3V and 5V Regulators
• Futaba S3003 Servo
• L298N H-Bridge Motor Control Kit
• RC Car With Battery Packs

4
Transceiver Board
7805 W/ Heat sink
0.1µF Capacitors
MAX3222
5
5V Regulator
100µF
4148 Zener
100µH
7805
MAX639
Switching Regulator
Linear Regulator
6
Transceiver
100µF Capacitors
4148 Zener Diode
3.3V Regulator
125µH Inductor
RS-232
MAX3222 Transceiver
7
Testing Servo
8
H-Bridge with PWM
9
Power Supply
10
GPS Accuracy

• Average of 15 points used for initial position.
• GPS data shifts over time
• Use GPGGA line of GPS data so that the level of
  accuracy can be estimated.
• GPGGA,124202,0000.0000,N,00000.0000,W,0,00,,,M,,M
  ,,48

11
Car
H-Bridge
MSP430
5V Regulator
Transceiver Board
12
Car
Heat Sink
5V Regulator
Power Terminals
13
Car
GPS CABLES
14
Car
LED Antenna
Power Switch
GPS Antenna
15
Overall Diagram
16
Algorithm
17
Algorithm
18
Algorithm
19
Flowchart
Get 15 Valid GPS Data Points
START
STOP
Perform Calculations
Initial Acceleration
Get GPS Data
YES
NO
Correct Navigation
If Last Waypoint Reached
If on Course
NO
YES
NO
Sharp Left and Increment Waypoint
If Waypoint Reached
Drive
YES
20
Gantt Chart
21
Gantt Chart
22
Budget Report
23
References

• WWW.Sipex.com
• WWW.TI.com
• WWW.Garmin.com
• WWW.Colorado.edu/geography/gcraft/notes/gps/gps_f.
  html
• WWW.national.com
• Embedded Systems Design using the TI MSP430
  series, Chris Nagy2003
• WWW.Maxim-Ic.com