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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

Autonomous GPS robot

Group 6

Adrian Glover

Linda Ekhator

Marvin Basa

Advisor: Dr Cox

project objective
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
Parts Used
  • TI MSP-FET430P1232
  • Garmin GPS 35
  • Sipex SP3223E
  • Switching regulator
  • L298 motor controller kit / H-bridge
  • Miscellaneous/ passive circuits
ti s msp430f1232
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
GPS Receiver
  • Transmits data in ASCII format at 9600 baud
  • Designed for use in automobiles
  • data contains the GPS coordinates
our transceiver
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
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
Switching Regulator


  • 9.6V Input
  • 3.3V Output
  • Powers MSP430 and SP3223E
  • ~95% efficiency
navigation algorithm
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
problems encountered
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
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
  • Past projects, Texas Tech University, department of engineering.