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  1. Autonomous Robot Merlin Perry Travis Shricker Ross Aten

  2. Goal • Build an Autonomous robot that will navigate the R-4 parking lot using GPS tracking data.

  3. GPS • The Global Position System uses a 3 segment system: Space, User, & Control segment. • Space – consists of 24 satellites circling the globe at 12000 miles above the earth • User – the GPS device and the user • Control – controls GPS satellites by tracking and sending data.

  4. GPS • The GPS, in order to work properly, must be in contact with at least 4 of the 24 satellites at all time. • The GPS picks up two types of data almanac and ephemeris when these are known the location of all the satellites at all time is known.

  5. GPS Data • The GPS gives out a lot of different data once every second but our group only focused on one line : $GPRMC – Recommended Minimum Specific GPS/Transit Data (RMC) • UTC - Coordinated Universal Time • This one line provided all the necessary data needed to perform the given goal

  6. GPS altering • Since our group only focused on the GPRMC line we decided that we would program the GPS to only give out that one line once a second

  7. GPS Simulation • A useful tool was the GPS simulation that could be used to test the car without physically having to go outside.

  8. Statistical Data

  9. Statistical Data

  10. Statistical Data

  11. Hardware Block Diagram

  12. Transceiver • One pivotal step was making sure that the transceiver and the MSP where communicating correctly and sending valid data to each other.

  13. Voltage Regulator • Used a MAX640 & MAX639 to output 3.3volts for the MSP430 & 5volts for the servo. • The MAX regulators were used because they are high efficiency switching regulators.

  14. Regulators

  15. Servo • Used PWM to control the servo • When the servo was mounted it was a little lose causing the wheels to pivot a little. • Steering wasn’t as tight as it could have been.

  16. H-Bridge • Used the H-bridge to control the motor. • Sent a PWM to the forward plug and when signal went low the motor would go.

  17. Servo Mounting

  18. Completed Car

  19. Completed Car

  20. Flow Chart

  21. Data

  22. Driving Program

  23. Driving Program

  24. Problems • Didn’t get the program running in time. Ran into a lot of algorithmic program problems. • Ran out of programming time. • Motor would either go to slow or to fast for correct steering. • Never had the right ratio between turning and speed.

  25. Gantt Chart

  26. Budget

  27. Reference • http://www.colorado.edu/geography/gcraft/notes/gps/gps_f.html • http://www.garmin.com/aboutGPS/manual.html • http://www.hvwtech.com/pages/ • http://www.fatlion.com/sailplanes/servos.html • http://www.maxim-ic.com/

  28. Questions ?