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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

Autonomous Robot

Merlin Perry

Travis Shricker

Ross Aten

slide2
Goal
  • Build an Autonomous robot that will navigate the R-4 parking lot using GPS tracking data.
slide3
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.
slide4
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.
gps data
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
gps altering
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
gps simulation
GPS Simulation
  • A useful tool was the GPS simulation that could be used to test the car without physically having to go outside.
transceiver
Transceiver
  • One pivotal step was making sure that the transceiver and the MSP where communicating correctly and sending valid data to each other.
voltage regulator
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.
servo
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.
h bridge
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.
problems
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.
reference
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/