The task of autonomous vehicle navigation coupled with obstacle avoidance is a notoriously difficult problem involving communication with a variety of sensors and a motor control system in real time. Our project is to create a system that will enable a mobile platform to navigate a given route, while avoiding obstacles in its path.
Table of Contents
1 Introduction
1 System Layout
2 System Communication
3 System Specifications
3-A Proposal Specifications
3-B Specifications as Tested
4 Project Budget
2 Hardware and Sensors
1 Schematic and Wiring
2 Mounting
3 Compass Sensor
4 Acoustic Sensors
5 GPS Unit
6 Site Selection for Testing
7 Power Systems
3 MCU
1 Functionality
2 Programming and Debugging
2-A Programming
2-B Debugging
3 Issues
4 PDA
1 Introduction
2 Functionality
3 Programming and Debugging
4 Issues
5 RouteDraw Web Tool
1 Functionality
2 Programming and Debugging
3 Issues
6 Simulation Tools
1 Functionality
1-A Full System Simulation
1-B PDA Testing Simulation
2 Programming and Debugging
3 Issues
7 Basic System Operation
1 Site Selection
2 Route Drawing
3 Loading PDA
4 Running the Esplanade Runner
5 Issues
A Component Specification Sheets
1 Garmin eTrex PDA Specifications
2 CMPS03 Magnetic Compass Chipset
3 MMP-8 Mobile Robot Platform
4 SRF05 Ultra Sonic Ranger
5 M68DEMO908GB60 MCU Board
6 Hewlett Packard iPAQ RX1955 PDA
7 GPS TEXT Output Communication Format
8 MCU Internal Schematic
B Specification Discussion
C Future Steps
1 RouteDraw Web Tool
Project Goals and Topics
The project aims to develop an autonomous vehicle navigation system capable of traversing user-defined routes while performing real-time obstacle avoidance. The research explores the integration of a microcontroller unit (MCU), a portable digital assistant (PDA), and various sensors to create a functional, mobile platform.
- Autonomous navigation using GPS waypoints
- Real-time obstacle avoidance using acoustic sensors
- Development of a web-based route creation tool
- Embedded system communication protocols (I2C, Serial, PWM)
- Hardware integration and system simulation
Excerpt from the Book
1 System Layout
The concept behind this system is to utilize the information from all of the sensors to determine the answers to a few simple questions; where are we, where do we need to go and how do we get there?
We utilize a handheld GPS unit to pinpoint the vehicle’s current location (longitude, latitude), along with where we need to go. By using a digital compass to correctly orient ourselves in the desired direction, we repeat this procedure iteratively until we’ve successfully completed our route.
There are four main elements to this process: the web application, the PDA, the MCU and the sensory devices each playing a role to the overall function of the vehicle.
The web application has three main functions. The first function is a web tool based on Google Maps that allows any user to use the satellite imagery of the earth and define a waypoint based route using only a few simple mouse clicks. The second of these functions is to translate the user defined route into a series of longitude and latitude coordinates that the PDA program will later use as the basis for its positional information. The last function is creating a file that can then can be transferred and read by the PDA as a map.
Chapter Summaries
1 Introduction: Provides an executive summary of the navigation challenge and outlines the system architecture involving the PDA, MCU, and sensors.
2 Hardware and Sensors: Details the physical integration, mounting methods, and specifications of the compass, acoustic sensors, and GPS hardware.
3 MCU: Explains the microcontroller's role in data acquisition, obstacle avoidance logic, and PWM motor control.
4 PDA: Describes the graphical user interface for the system and the software requirements for managing navigation and parameter configuration.
5 RouteDraw Web Tool: Discusses the creation of a web-based interface for generating GPX waypoint files using satellite imagery.
6 Simulation Tools: Covers the use of MATLAB-based simulations to test algorithms and identify potential system errors before field deployment.
7 Basic System Operation: Acts as a user manual for site selection, route creation, PDA setup, and system startup procedures.
Keywords
Autonomous navigation, Obstacle avoidance, Microcontroller, PDA, GPS, Digital compass, Acoustic sensors, PWM, RouteDraw, GPX, Embedded systems, MATLAB simulation, Mobile robot, Windows Mobile, Hardware integration
Frequently Asked Questions
What is the core objective of the Esplanade Runner project?
The project aims to create an autonomous mobile platform that navigates specific paths defined by a user while avoiding obstacles in real-time.
Which primary components make up the system architecture?
The system is comprised of a portable digital assistant (PDA), a microcontroller unit (MCU), a GPS unit, a digital compass, and acoustic sensors.
What is the function of the RouteDraw Web Tool?
It allows users to define waypoints on a map using Google Maps satellite imagery and export them into a GPX file for the vehicle to follow.
How does the MCU handle obstacle avoidance?
The MCU pings four acoustic sensors and, if an obstruction is detected, executes an avoidance algorithm based on the sensor readings to steer the vehicle clear.
What programming environments are used for development?
The MCU is programmed using CodeWarrior, while the PDA application is developed using C# in Visual Studio 2005.
What are the primary communication protocols used by the vehicle?
The system utilizes Serial communication for the GPS and PDA, I2C for the digital compass, and PWM for controlling the motors.
What should be done if the vehicle begins rotating in circles?
This is likely due to a compass failure. The user should power off the vehicle and the MCU, then restart the vehicle followed by the MCU to reset the compass.
Why was the HP iPAQ rx1955 chosen for this project?
It was selected for its Windows Mobile 5.0 operating system, which provides a familiar development environment, and its integrated serial port capabilities required for communication with the MCU.
How does the system handle GPS inaccuracies?
The system is designed to navigate within a 5-10 foot buffer range of the desired route. Simulation tools were used to study the sensitivity of the system to GPS errors up to 15 meters.
What is the role of the acoustic sensors on the vehicle?
They are positioned to detect potential obstacles in front, and on the left and right sides of the vehicle, allowing it to navigate around objects as small as 15cm x 15cm.
- Arbeit zitieren
- BS Kevin Mader (Autor:in), Jimmy Ng (Autor:in), Ilya Gribov (Autor:in), Rob Levy (Autor:in), 2007, Esplanade Runner - Autonomous Vehicle Navigation in Small Vehicles, München, GRIN Verlag, https://www.grin.com/document/110833
