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Autonomous GPS robot. Group 6 Adrian Glover Linda Ekhator Marvin Basa Advisor: Dr Cox. Project objective.

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Autonomous gps robot l.jpg

Autonomous GPS robot

Group 6

Adrian Glover

Linda Ekhator

Marvin Basa

Advisor: Dr Cox


Project objective l.jpg
Project objective

To design and build an autonomous robot capable to navigate an outside area of approximate size of the TTU R4 parking lot by guidance of a GPS sensor. The GPS data readings are to be used for navigation in a software driven algorithm. The Texas Instruments MSP430 microcontroller is to be used to communicate with the GPS and to control the robot’s steering and speed.


Parts used l.jpg
Parts Used

  • TI MSP-FET430P1232

  • Garmin GPS 35

  • Sipex SP3223E

  • Switching regulator

  • L298 motor controller kit / H-bridge

  • Miscellaneous/ passive circuits


Ti s msp430f1232 l.jpg
TI’S MSP430F1232

  • The MSP430 family of ultra-low-power 16-bit RISC mixed-signal processors from Texas Instruments provides the ultimate solution for battery-powered measurement applications.


Gps receiver l.jpg
GPS Receiver

  • Transmits data in ASCII format at 9600 baud

  • Designed for use in automobiles

  • data contains the GPS coordinates


Our transceiver l.jpg
Our Transceiver

  • SP3223E

  • Power supplies: +3.0V to +5.5V

  • RS-232 drivers/receivers: 2/2

  • External components: 5 capacitors

  • 20 pins

  • Data rate: minimum 250 kbps


The h bridge l.jpg
The H-Bridge

  • Is a chip that consists of 4 bipolar junction transistors (BJT’s).

  • There are 2 pairs

  • Each pair consists of 2 BJT’s, 1 PNP, and 1 NPN BJT connected in series with each other while both pairs are connected in parallel.

  • the output of each pin is connected to the DC motor.


Switching regulator l.jpg
Switching Regulator

MAX640

  • 9.6V Input

  • 3.3V Output

  • Powers MSP430 and SP3223E

  • ~95% efficiency



Navigation algorithm l.jpg
Navigation Algorithm

  • Equation of a line between two points

  • Distance a from point to a line

  • Gives a varying tunnel system without use of trig. functions



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Problems encountered

  • Delay on project due to limited number GPS and MSP430s

  • Lack of useful laptops from the calibration room

  • 0x1000 (~4kb) C & object code limitation on the IAR workbench

  • Weather conditions.



Statistical evaluation of gps data l.jpg
Statistical Evaluation of GPS data

  • Evaluated Data sets for Groups 1, 2, and 6

  • Calculated mean, variance, standard deviation, covariance, correlation coefficient, skewness, and kurtosis





Reference l.jpg
Reference

  • http://www.colorado.edu/geography/gcraft/notes/gps/gps_f.html

  • http://www.hvwtech.com/pages/products_view.asp?ProductID=68&CurPage=2

  • http://focus.ti.com/mcu/docs/overview.tsp?familyId=342&templateId=5246&navigationId=11466&path=templatedata/cm/mcuovw/data/msp430_ovw&DCMP=TIHomeTracking&HQS=Other+OT+home_p_micro430

  • Past projects, Texas Tech University, department of engineering.



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