1. Field Navigational GPS Robot Final Presentation & Review Chris Foley, Kris Horn, Richard Neil Pittman, Michael Willis

2. 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.

3. 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

4. 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.

5. 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

6. 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.

7. Components Stampede Monster Truck Motor Steering Servo OOPic-S board OOpicII microcontroller OOPic software

8. Components… Garmin GPS 15 + antenna Electronic compass

9. Components… Sonar SensorsLCD

10. 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

11. System Design

12. Printed Circuit Board

13. Navigation System… Navigation System Path Navigator Heading Navigator GPS Compass Obstacle Avoidance Sonar Steering Control Motor Control PI algorithm MATLAB Simulation

14. MATLAB example

15. Object Detection Two sonar sensors on front of Herbie Determine location of obstacles depending on sonar reading Range up to 10 ft.

16. 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

17. 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

18. Golf Course Data

21. 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

22. Looking to the Future More Complicated problems will require more computing power Improvements in User Interface Mission specific hardware and modification

23. The End