Autonomous Dual Navigation System Vehicle Dmitriy Bekker Sergei Kunsevich Computer Engineering Rochester Institute of Technology December 1, 2005 Advisor: Dr. Roy Czernikowski Project Design Review

CE Projects II – Rochester Institute of Technology Outline Project overview –System description –Achieving objectives –Vehicle motors Detailed system view –Component interface –Operational boundaries –Sensor placement –User interface System analysis –GPS –Wireless communication –Sensor concerns Where we stand now Budgeting (key components)

CE Projects II – Rochester Institute of Technology Project Overview – System Description Autonomous Dual Navigation System Vehicle –A vehicle that can autonomously navigate itself to user specified waypoints while reporting and avoiding obstacles on the way. Vehicle base is a 1:6 model of Hummer H2 Uses two systems for navigation –GPS –Electronic compass and optical shaft encoder User interface from base station (through wireless connection) Vehicle can navigate without GPS (when no signal) Obstacles detected with rotating ultrasonic range finder

CE Projects II – Rochester Institute of Technology Project Overview – Achieving Objectives Moving to a destination –Determine angular orientation (compass) and distance to destination –Turn towards destination and start moving Tracking vehicle movement –With GPS (when available) –With compass and optical shaft encoder Obstacles –Detected with ultrasonic range finder –Need to research suitable obstacle avoidance algorithms Electronic compass (Devantech CMPS03) Optical shaft encoder GPS (Garmin 15L) Ultrasonic range finder (Parallax PING)

CE Projects II – Rochester Institute of Technology Project Overview – Vehicle Motors The vehicle will move using: –One DC motor for forward / reverse motion of the rear wheels –One servo motor to steer the front wheels The ultrasonic range finder will rotate using a second servo motor –Front facing –180° rotation

CE Projects II – Rochester Institute of Technology Detailed System Overview – Component Interface PWM port

CE Projects II – Rochester Institute of Technology Detailed System Overview – Operational Boundaries For demo, the vehicle needs a flat surface with minimum or no surface particles (like snow, ice, rocks, etc) GPS capability can only be demonstrated outdoors Indoors the vehicle can only navigate using compass and optical shaft encoder Compass is sensitive to magnetic fields, so vehicle should be operated away from large metallic objects and high power electronics Obstacle placement constraints will be determined once a suitable obstacle avoidance algorithm is chosen

CE Projects II – Rochester Institute of Technology Detailed System Overview – Sensor Placement

CE Projects II – Rochester Institute of Technology Detailed System Overview – User Interface X X N S W E Heading 20° Current Coordinates LAT: dd.mm.sec LNG: ddd.mm.sec ___________Next Waypoint_________ LAT: dd.mm.sec LNG: ddd.mm.sec 20m Mag. (m) Heading (°) ADD STOPSTART/RES.RESET Navigation GPS 30° Navigation GPS Coordinates Navigation GPS REMOVE LAST OPEN DESTINATION TABLE Speed (km/h) 10 GPS System Status ONLINE Data SentData ReceivedTimeoutObstacle OPEN COLLECTED DATA TABLE

CE Projects II – Rochester Institute of Technology System Analysis – GPS Horizontal accuracy is within 3m of geographic location (with WAAS) Minimum refresh rate is 1 sec The speed of the vehicle must be less then ~3m/s for most accurate tracking GPS will be configured to transmit geographical location message only GPS (Garmin 15L)

CE Projects II – Rochester Institute of Technology System Analysis – Wireless Communication Data transferred wirelessly from vehicle to base station via cellular telephone network Motorola E815 cell phone is connected to the MCU via a proprietary serial cable and null modem adapter Data calls are managed with standard serial AT commands

CE Projects II – Rochester Institute of Technology System Analysis – Sensor Concerns Electronic compass is very sensitive to magnetic deviations Optical shaft encoder needs 100% traction for accurate measurement Ultrasonic range finder has wide signal propagation (~50°) Electronic compass (Devantech CMPS03) Optical shaft encoder Ultrasonic range finder (Parallax PING)

CE Projects II – Rochester Institute of Technology Where we stand now Completed tasks –Researched and decided on a code development tool (Embedded GNU) –Constructed ultrasonic range finder test setup and developed driver code –Constructed electronic compass test setup and developed driver code (I2C) –Researched and decided on a wireless communication scheme –Constructed optical shaft encoder test setup and developed driver code –Improved front wheel steering system on vehicle –Developed and tested cellular modem communication scheme

CE Projects II – Rochester Institute of Technology Budgeting – Key Components Garmin GPS 15L$53.95 Devantech CMPS03 Compass$50.45 Parallax PING Range Finder$31.94 HC12 MCU Board$99.00 RC Hummer H2$68.99 Motorola E815 Cell Phone$ Estimate List Price:$ Our Total Price:$271.31

CE Projects II – Rochester Institute of Technology Questions?