1. GPS-Guided Autonomous Vehicle

2. http://cegt201.bradley.edu/projects/proj2001/gpscarjb/

3. GPS-Guided Autonomous Vehicle Presentation Overview Project Summary Project Goals What is GPS? Block Diagram Project Subsystems –Hardware Components –System Inputs –Software Functionality Timeline Final Results Cost Analysis

4. GPS-Guided Autonomous Vehicle Project Summary The goal of this project is to design and build a vehicle that will be able to navigate from one location on Bradley University's campus to another along the sidewalks without human intervention. In order to do this we have decided to implement a global positioning system (GPS) as the means by which the vehicle will know its position. Heading from a digital compass will be used in conjunction with position information from the GPS receiver to steer the vehicle.

5. GPS-Guided Autonomous Vehicle Project Goals Integrate a control system on a self- propelled vehicle utilizing GPS Implement all controls using a low-cost microprocessor and GPS receiver

6. WHAT IS GPS?

17. GDOP (Geometric Dilution Of Precision) Components: PDOP = Position Dilution of Precision (3-D). HDOP = Horizontal Dilution of Precision (Latitude, Longitude). VDOP = Vertical Dilution of Precision (Height). TDOP = Time Dilution of Precision (Time)..

19. GPS-Guided Autonomous Vehicle Sample of DGPS data Horizontal Standard Deviation : 104.9 meters

20. GPS-Guided Autonomous Vehicle Sample of DGPS data Horizontal Standard Deviation : 2.3 meters

21. GPS-Guided Autonomous Vehicle GPS Module Problems With Differential GPS –Accuracy was not improved, and sometimes even reduced Correction signal is transmitted over a range that adds error. ( 1m error for every 100 km (62 miles) ) Maximum broadcast range = 450 km (280 miles) Signal latency can be as great as 3 to 5 seconds Correction signal and receiver signal are determined by different clusters

22. GPS-Guided Autonomous Vehicle The Solution Dead-Reckoning – Uses a digital compass to account for the errors of GPS. – Normally used while satellites are not visible. – We are incorporating this concept by using the compass to control the steering.

23. GPS-Guided Autonomous Vehicle 2 degree accuracy, 1 degree resolution 5Hz sampling rate (software down-sampled to 1Hz) Pin selectable BCD or binary output format Power supply: single 5 volt Size: 1.5"l x 1.3"W x 0.4"H Weight: 0.2 lbs. Digital Compass

24. GPS-Guided Autonomous Vehicle Main Project Breakdown Components –Power Circuitry Steering control / Linear Actuator Drive Motors Subsystems –Digital compass –GPS Software –Autonomous mode –Diagnostic mode

25. GPS-Guided Autonomous Vehicle Block Diagram GPS Signal Potentiometer Feedback LMD18200 (H-Bridge) Power Circuitry Drive Motor Linear Actuator GPS Receiver EMAC Board Battery 1 Keypad LCD Display Digital Compass Battery 2

26. GPS-Guided Autonomous Vehicle Disciplines Involved Power electronics Microprocessor controlled feedback systems DC Motors GPS and Differential GPS –RF related interferences Cross compilers using Assembly and C-code

27. GPS-Guided Autonomous Vehicle Hardware Components Steering and Drive circuitry

28. GPS-Guided Autonomous Vehicle Drive Circuitry Optically Isolated 12 Volt Bias Supply Drives Two Motors In Series Delivers 40 Amps Max Current Pulse Width Modulated Control Signal

29. GPS-Guided Autonomous Vehicle Drive Circuitry +5v +12v

30. GPS-Guided Autonomous Vehicle Voltage Spike 13V 25V

31. GPS-Guided Autonomous Vehicle Steering Circuitry H-Bridge Integrated Motor Controller –includes Bi-directional input control Brake Control PWM input Linear Actuator Attached To The Steering Rod PWM Controlled Rate of Change Potentiometer Feedback Position Control

32. GPS-Guided Autonomous Vehicle Steering Circuitry +12V +5V 1 2 3 4 5 6 7 10 11 LMD18200T 10nF Dir Brake PWM Feedback

33. GPS-Guided Autonomous Vehicle Steering Drive

34. GPS-Guided Autonomous Vehicle GPS Ashtech G8 Compact OEM GPS Module

35. GPS-Guided Autonomous Vehicle GPS Module Completed –Serial Communication between EMAC and G8 –Data acquisition using GPS and DGPS –Acquiring position information

36. GPS-Guided Autonomous Vehicle Summary of GPS Results Accuracy varying from 5m to 50m GPS Heading and velocity accurate only at >2.5 mph. Accurate position requires up to four hours of stationary data acquisition.

37. GPS-Guided Autonomous Vehicle Digital Compass Schematic 5V regulated ground P4.3 P1.7 P1.4 ground 5V regulated ground P4.4

38. GPS-Guided Autonomous Vehicle Software Control Using C-code cross-compiler in Keil programming environment for 8051

39. GPS-Guided Autonomous Vehicle Software System Description Steering Control –Sends control signal to actuator to steer towards the desired heading. –Limited to 5 mm of actuator movement per 1 second cycle. (About 3 deg.)

40. GPS-Guided Autonomous Vehicle Drive Control –Begins with an 40% (fast) duty cycle to overcome initial vehicle inertia. –Maintains a constant duty cycle of 30% (slow) at 100Hz over the course of travel to the motors giving a speed of approximately 1 mph. Software System Description

41. GPS-Guided Autonomous Vehicle Software Function Modes of Operation –Diagnostic Mode 2 Speed Controls –(fast) and (slow) Manual Steering Controls Through the 80535 –left and right (5 mm actuator increments) –Autonomous Mode Automatic Speed Control –larger duty cycle to overcome inertia, then slower velocity Automatic Steering Control –based on digital compass error signal Automatic Break With GPS Coordinates

42. GPS-Guided Autonomous Vehicle Project Timeline

43. GPS-Guided Autonomous Vehicle Final Results MPEG of vehicle driving, and stopping

44. GPS-Guided Autonomous Vehicle

45. Electronics

46. GPS-Guided Autonomous Vehicle GPS Sensor

47. GPS-Guided Autonomous Vehicle Antenna

48. GPS-Guided Autonomous Vehicle Actuator

49. GPS-Guided Autonomous Vehicle Cost Analysis

50. GPS-Guided Autonomous Vehicle Special Thanks To: Dr. Brian Huggins –Advisor, Customer, and technical writing editor Dr. In Soo Ahn –Advisor/GPS expert Mr. Chris Mattus –EMAC guru, connection specialist (and photo editor) Nick Schmidt –The do-it-all man Prof. Steve Gustchlag –Power genius Dr. Gary Dempsey –Cross-Compiler Master And finally...

51. GPS-Guided Autonomous Vehicle –For their support and sponsorship of the GPS-Guided Autonomous Vehicle

52. GPS-Guided Autonomous Vehicle ANY QUESTIONS?

53. GPS-Guided Autonomous Vehicle