Autonomous Robot

1
Autonomous Robot

• Merlin Perry
• Travis Shricker
• Ross Aten

2
Goal

• Build an Autonomous robot that will navigate the
  R-4 parking lot using GPS tracking data.

3
GPS

• The Global Position System uses a 3 segment
  system Space, User, Control segment.
• Space consists of 24 satellites circling the
  globe at 12000 miles above the earth
• User the GPS device and the user
• Control controls GPS satellites by tracking and
  sending data.

4
GPS

• The GPS, in order to work properly, must be in
  contact with at least 4 of the 24 satellites at
  all time.
• The GPS picks up two types of data almanac and
  ephemeris when these are known the location of
  all the satellites at all time is known.

5
GPS Data

• The GPS gives out a lot of different data once
  every second but our group only focused on one
  line GPRMC Recommended Minimum Specific
  GPS/Transit Data (RMC)
• UTC - Coordinated Universal Time
• This one line provided all the necessary data
  needed to perform the given goal

6
GPS altering

• Since our group only focused on the GPRMC line we
  decided that we would program the GPS to only
  give out that one line once a second

7
GPS Simulation

• A useful tool was the GPS simulation that could
  be used to test the car without physically having
  to go outside.

8
Statistical Data
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Statistical Data
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Statistical Data
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Hardware Block Diagram
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Transceiver

• One pivotal step was making sure that the
  transceiver and the MSP where communicating
  correctly and sending valid data to each other.

13
Voltage Regulator

• Used a MAX640 MAX639 to output 3.3volts for the
  MSP430 5volts for the servo.
• The MAX regulators were used because they are
  high efficiency switching regulators.

14
Regulators
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Servo

• Used PWM to control the servo
• When the servo was mounted it was a little lose
  causing the wheels to pivot a little.
• Steering wasnt as tight as it could have been.

16
H-Bridge

• Used the H-bridge to control the motor.
• Sent a PWM to the forward plug and when signal
  went low the motor would go.

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Servo Mounting
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Completed Car
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Completed Car
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Flow Chart
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Data
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Driving Program
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Driving Program
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Problems

• Didnt get the program running in time. Ran into
  a lot of algorithmic program problems.
• Ran out of programming time.
• Motor would either go to slow or to fast for
  correct steering.
• Never had the right ratio between turning and
  speed.

25
Gantt Chart
26
Budget
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Reference

• http//www.colorado.edu/geography/gcraft/notes/gps
  /gps_f.html
• http//www.garmin.com/aboutGPS/manual.html
• http//www.hvwtech.com/pages/
• http//www.fatlion.com/sailplanes/servos.html
• http//www.maxim-ic.com/

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Questions

• ?