Field Navigational GPS Robot Final Presentation & Review Chris Foley, Kris Horn, Richard Neil Pittman, Michael Willis.
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Field Navigational GPS Robot Final Presentation & Review Chris Foley, Kris Horn, Richard Neil Pittman, Michael Willis
Problem Background Purpose: 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 Statement Provide vehicle capable of following a specified path Provide a platform that can be used for: Information Gathering Remote Presence Environmental Survey Provide a learning experience for the team
Goals Interface 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 Impact Effects on Warfare Used for mine detection Removing humans from danger Safety & Environmental Concerns Minimal Careful Path selection to prevent collision Proper disposal of battery packs Proper 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.
Navigation System Inputs: 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
Object Detection Two sonar sensors on front of Herbie Determine location of obstacles depending on sonar reading Range 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 Difficulties GPS accuracy approximately 10 ft. Coordinate range ddmm.mmmm -> dd.dddddd Surface traveled, throttle problems Difficulties with integrating h-brdiges Limitations with OOPic Limited memory space No decimals or negative numbers Limited functionality
Lessons Learned Autonomous navigation is a difficult problem Engineering solutions from limited resources Additional upstream development will reduce design problems later Not every solution to a problem is immediately obvious
Looking to the Future More Complicated problems will require more computing power Improvements in User Interface Mission specific hardware and modification