SelfGuided Vehicle

1
Self-Guided Vehicle

• Jason Jakubiak
• Mark Kliewer
• Jeff Peltier

2
Objective Goal

• Make a vehicle follow a line in the floor
• The line will begin straight and a disturbance
  will be added in the form of a curve
• Implement a PID controller to control the
  steering angle of the vehicle

3
Configuration of the System

• Two motors
• Drive wheel motor
• Steering wheel motor
• One sensor
• The sensor is used to measure the position of the
  vehicle as it moves across the floor next to the
  tape
• One micro switch
• The switch is used to turn off the motors in case
  the car veers off the path and hits and object

4
Drawing of Mechanical System
5
Flow Chart
Start
Declare Variables
While
Micro value 1
No
PID
Sensor
Steer motor
Yes
Turn off motors
6
Scenario of the Demo

• The demo will illustrate that the car can follow
  the tape on the floor and keep it within a
  respectable range
• The disturbance of the curve is handled well by
  the PID controller