Autonomous robot
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Autonomous Robot Merlin Perry Travis Shricker Ross Aten Goal Build an Autonomous robot that will navigate the R-4 parking lot using GPS tracking data. GPS The Global Position System uses a 3 segment system: Space, User, & Control segment.

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Autonomous robot l.jpg

Autonomous Robot

Merlin Perry

Travis Shricker

Ross Aten


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Goal

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


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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.


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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.


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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


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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


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GPS Simulation

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






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Transceiver

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


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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.



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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.


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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.









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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.




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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/



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