Autonomous GPS robot

1
Autonomous GPS robot

• Group 6
• Adrian Glover
• Linda Ekhator
• Marvin Basa
• Advisor Dr Cox

2
Project objective

• To 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. The GPS data readings
  are to be used for navigation in a software
  driven algorithm. The Texas Instruments MSP430
  microcontroller is to be used to communicate with
  the GPS and to control the robots steering and
  speed.

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Parts Used

• TI MSP-FET430P1232
• Garmin GPS 35
• Sipex SP3223E
• Switching regulator
• L298 motor controller kit / H-bridge
• Miscellaneous/ passive circuits

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TIS MSP430F1232

• The MSP430 family of ultra-low-power 16-bit RISC
  mixed-signal processors from Texas Instruments
  provides the ultimate solution for
  battery-powered measurement applications.

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GPS Receiver

• Transmits data in ASCII format at 9600 baud
• Designed for use in automobiles
• data contains the GPS coordinates

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Our Transceiver

• SP3223E
• Power supplies 3.0V to 5.5V
• RS-232 drivers/receivers 2/2
• External components 5 capacitors
• 20 pins
• Data rate minimum 250 kbps

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The H-Bridge

• Is a chip that consists of 4 bipolar junction
  transistors (BJTs).
• There are 2 pairs
• Each pair consists of 2 BJTs, 1 PNP, and 1 NPN
  BJT connected in series with each other while
  both pairs are connected in parallel.
• the output of each pin is connected to the DC
  motor.

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Switching Regulator

• MAX640
• 9.6V Input
• 3.3V Output
• Powers MSP430 and SP3223E
• 95 efficiency

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Block diagram
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Navigation Algorithm

• Equation of a line between two points
• Distance a from point to a line
• Gives a varying tunnel system without use of
  trig. functions

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GPS Simulator
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Problems encountered

• Delay on project due to limited number GPS and
  MSP430s
• Lack of useful laptops from the calibration room
• 0x1000 (4kb) C object code limitation on the
  IAR workbench
• Weather conditions.

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Our tank
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Statistical Evaluation of GPS data

• Evaluated Data sets for Groups 1, 2, and 6
• Calculated mean, variance, standard deviation,
  covariance, correlation coefficient, skewness,
  and kurtosis

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General Budget
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Current budget
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Gantt chart
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Reference

• http//www.colorado.edu/geography/gcraft/notes/gps
  /gps_f.html
• http//www.hvwtech.com/pages/products_view.asp?Pro
  ductID68CurPage2
• http//focus.ti.com/mcu/docs/overview.tsp?familyId
  342templateId5246navigationId11466pathtempl
  atedata/cm/mcuovw/data/msp430_ovwDCMPTIHomeTrack
  ingHQSOtherOThome_p_micro430
• Past projects, Texas Tech University, department
  of engineering.

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Questions

• ???