GPS Car

1
GPS Car

• Group 1

Andrew Cruz Garrett Foreman Aaron Fry
2
Project Description

• Design and build an autonomous robot capable to
  navigate an outside area of approximate size of
  the TTU R4 parking lot by guidance of a GPS
  sensor.

3
Table of Contents

• Car Pictures
• GPS data
• PWM Graphs
• Hardware Diagram
• Power Budget
• Software

4
Our Car (Before)
5
Our Car (Before)
6
Our Car (After)
7
Map of Parking Lot
8
GPS Graph
Point 1
Point 2
Point 4
Point 3
9
GPS Data (Latitude)
.001 6 ft.
10
GPS Data (Longitude)
.001 5 ft.
11
Controlling Servo and Motor

• Turning Period 20ms, 50Hz
• Left 4.75 Duty Cycle
• Center 4 Duty Cycle
• Right 3.4 Duty Cycle
• Motor Frequency Neutral 3.4ms, 295Hz, 50 Duty
  Cycle
• Motor Speed 48 Duty Cycle

12
PWM Motor Initialization
13
PWM Servo Graph
Center
Left
Right
14
Directional Comparison (500 microseconds/div)
Right
Center
Left
15
Hardware Diagram
7.2V Battery
5V Regulator
Servo
HC12
Speed Control
Motor
18V battery
GPS
16
Power Budget
Approximate Car Battery Life 34 minutes
continuous running Approximate GPS Battery Life
4560 minutes
17
Software Diagram
Motor
Servo
Speed Control
PWM2
HC12
PWM0
GPS Readings
GPS
18
Tunnels
3 ft.
1.2 ft.
1.2 ft.
3 ft.
19
Initialize PWM and Baud Rate
Calculate way lines and tunnel walls
A L G O R I T H I M
Way line 1?
Travel 1
Travel 2
YES
Travel 3
NO
NO
Tunnel Check
Way line 3?
Track
Travel 4
YES
20
Calculations
Point 1
Point 2
Way line 1 long1 229
Difference Between Tunnel 1 and 2 lat1 - 62
Way line 2 long1 -1D
Point 3
Point 4
21
Initialize PWM and Baud Rate
Calculate way lines and tunnel walls
A L G O R I T H I M
Way line 1?
Travel 1
Travel 2
YES
Travel 3
NO
NO
Tunnel Check
Way line 2?
Track
Travel 4
YES
22
Tunnel Check
Delay 2 gt Delay 1
A
B
C
D
Delay 1 gt Delay 3
A?
B?
C?
D?
NO
NO
NO
YES
YES
YES
NO
Turn Left
Turn Right
Turn Right
Turn Left
YES
Delay1
Delay1
Delay2
Delay2
Back to Algorithm
Delay3
Turn Left
Turn Right
Delay3
Straight
23
Initialize PWM and Baud Rate
Calculate way lines and tunnel walls
A L G O R I T H I M
Way line 1?
Travel 1
Travel 2
YES
Travel 3
NO
NO
Tunnel Check
Way line 3?
Track
Travel 4
YES
24
Set Backs

• Assembly Language
• High Speed Wreck

25
Gantt Chart
26
Budget
27
Summary

• It workedwith a little help.

28
References

• Dr. Dallas
• Dr. Gale
• Dr. Giesselmann
• http//www.garmin.com
• http//www.howstuffworks.com
• http//www.nasm.si.edu/exhibitions/gps/work.html
• http//www.traxxas.com
• http//www.hitecrcd.com/product_fs.htm
• http//www.sonoma.edu/users/w/wilsonst/Papers/Geom
  etry/lines/default.html
• Previous reports by Huck, Gates
• Other Groups