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# Autonomous Robot

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, &amp; Control segment.

## Autonomous Robot

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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/

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