1. EECS373 - Design of Microprocessor-Based System
Autonomous Obstacle Avoidance Vehicle
Alan Duanmu Sheikh Shafeen Mahmud
Autonomous Obstacle Avoidance Vehicle
The vehicle was designed to maneuver around obstructions in it path and be able to navigate itself through a room/hallway without any external control. It does so by using it peripheral sensors .
Peripheral Controller Board
Actel Smartfusion Board
Mounting Plate
How the vehicle operates
The autonomous vehicle by default attempts to move forward without letting itself be trapped or hindered by obstacles in its path. The vehicle pre-emptively moves away from any direction from which it senses an object large enough to be detected by its ultrasonic sensors.
RZ Ultrasonic
Rangefinder
Battery Housing
Dagu Rover 5 Chassis
Motor Controller Board
Problems During the Design Process
Original Design included GPS unit to specify direction of travel, but resolution was unsuitable for demonstration purposes.
Malfunctioning motor controller units
Original design lacked sufficient driving power to reasonably operate the vehicle with the total weight of the system.
Adjusting the resolution of the ultrasonic sensors the vehicle uses to adjust itself.
(Possible) Future Work
Improved obstacle detection using more sonar rangers and higher resolution sonar data.
GPS and compass integration to fully realize its pathfinding potential.