1. GPAR Manar Anabtawi Mays Al-Haj Qasem Dr.Sufyan Samara Prepared by Supervisor Examiners Dr.Luai Malhis Dr.Hanal Abu Zant

2. Introduction Motivation Equipment & Tools Power Supply Methodology Results & Problems Conclusion & Future Work Outlines GPAR

3. Introduction GPAR

4. Motivation GPAR

5. Equipment & Tools GPAR Arduino Microcontroller Grove-GPS

6. Equipment & Tools (con’t) GPAR Motors Driver – L293D Gear Box - 2 DC motors

7. Equipment & Tools (con’t) GPAR Bluetooth Module Ultrasonic Sensor Module Accelerometer & Gyroscope Module

8. Equipment & Tools (con’t) GPAR SD Card Holder Module SD Card

9. Part No. Of UnitsCost per UnitTotal Cost Plate & Wheels 1 27.22$ Gear Box 1 16.54$ Arduino Uno 1 38.16$ Grove - GPS 1 63.60$ Ultrasonic HC-SR04 1 20.35$ Accelerometer and Gyroscope MPU-6050 1 55.97$ Bluetooth HC-05 1 15.26$ SD Card Socket 1 11.45$ SD Card 1 10.18$ H-Bridge L293D 1 3.82$ Wires - 7.63$ Batteries 4 8.90$ Total Cost279.08$ Equipment & Tools (con’t) GPAR

10. Power Supply For Arduino uses two 9v batteries connected to voltage regulator. For motor driver 6v battery.

11. Methodology Start Assignment of system parameters OSM Information GPS Data Extraction Way-Point Frame Information Processing Module Path Defalcation Module Position & Heading Robot Control Command Obstacle Avoidance Reach Destination End YES NO GPAR

12. Actual Path Parameters Extraction Module Methodology (con’t) GPAR

13. Way-Point Frame Bluetooth Signal GPAR

14. Guiding Based on GPS Data  Distance Deflection −1(Destination Point, Current Point) * 6372795  Heading Deflection Target Heading – Current Heading Methodology (con’t) GPAR

15. Motion Command Determination Methodology (con’t) Start Drive Forward IR Sensor detects obstacle Turn Robot YES NO GPAR

16. Moving in straight line Results & Problems GPAR

17. GPAR

18. Results & Problems (con’t) Car Movement Real Road Path

19. Main problem was in GPS Accuracy Results & Problems (con’t) GPAR

20. Conclusion & Future Work Future works mainly are to integrate light traffics controlling system with our system. So that we can get a complete self-driving robotics car. GPAR

21. GPAR

22. Thank You