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Autonomous Car Project

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by

Ali Shaheen

on 26 June 2016

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Transcript of Autonomous Car Project

Autonomous Vehicle
Outline
Introduction

Communication System(ZigBee)

Sensors

Two way navigation System

Embedded Systems

First Phase

Second Phase

System Setup errors
Introduction
Objective
Time Diagram
Survey
System Block Diagram
EMBEDDED SYSTEM
ARDUINO UNO
ZigBee
Project Flow Chart
Waypoint Navigation and Control of an Unmanned Ground Vehicle (UGV) with Obstacle Avoidance Capability

Presented by:

Ahmed Magdy
Ali Fawzy
Mohamed Ayman
Mohamed Nabil

Supervised by:
Dr. Mohamed El Mahallawy
Dr. Bassem Sheta

Name
What is ZigBee ?
IEEE Standard
Network join time
Frequency
Network Range
Nodes Per Network
Encryption
ZigBee types
Network topologies
EMBEDDED SYSTEM
Microcontroller and Microprocessor
ATmega328P
ATmega2560
ATmega328P
System Voltage 5V

Digital I/O 54 PINS

Analog I/O 16 PINS

PWM 14 PINS

ARDUINO MEGA
System Voltage 5V

Digital I/O 14 PINS

Analog I/O 6 PINS

PWM 6 PINS


CPU SPEED 16 MHZ 16 MHZ

REGISTER I/O 32 32

GPR 86 23

CLOCK SPEED 16 MHZ 16 MHZ

FLASH MEMORY 256 KB 32 KB

SRAM 8 KB 2 KB

EEPROM 4 KB 1 KB
Sensors
ZigBee
Ultrasonic
GPS
IMU
Magneto-
Meter
Processing
Arduino
Mechanical
System
Motors
Servo
Understanding the Project
Getting Components
Testing Components
Writing Codes
Synchronizing Codes
Testing the Car
Weeks 2~5
Weeks 6~9
Weeks 10~12
Weeks 13~14

COMMUNICATION SYSTEM
Any Questions ?
THANK YOU
Desired way point
Send destination to
arduino via zigbee
Car Positioning
Determine required
heading
Calculate relative
distance

3
4
5
6
8
10
27
28
30
31
32
29
Two Way point operation

SENSORS
GPS
24 satellite in 6 orbital
MEO
Two signal transmitted
L1(1575.42MHZ),
L2(1227.6MHZ)
Three bits of information
pseudoRandom Code
Almanac Data
Ephemeris data
Method of point calculation on the earth
GPS Module Testing
IMU

What is IMU ?
6 DOF
Accelorometer & Gyroscope
Accelerometer
How does it work ?
No. of axis
Applications(Air Bags)
Gyroscope
How does it work ?
Applications
Magnetometer
Working Principle
Interface with arduino
Ultrasonic
Ultra sound
Range
Why Ultrasonic ?
Working Principle
GPS Connection
IMU Connection
Magnetometer connection
Ultrasonic Sensor
Take readings
from ultrasonic
D<30
NO
Yes
Servo rotates
Right
Take readings
from ultrasonic
D<30
NO
Car rotates
right
Yes
Servo rotates
left
D<30
No
Yes
The car rotates
left
The Car
stops
OBSTACLE AVOIDANCE FLOW CHART
Take readings
from ultrasonic
Two way Navigation System
11000 miles
12000 miles
13000 miles
Distance to satellite is d = c x T

Transmission from satellite

Reception at GPS receiver

Working Principle
Distance=Time/59
d=sqrt(long-long)-(lat-lat)
car
Wp1
11
12
d
13
14
15
16
17
18
19
20
21
23
24
37
25
Read sensors Data
Obstacle Avoidance
d=0
Stop Car
Yes
No
7
First Phase
Implementation of first phase
Obstacle avoidance
Components used
Implementation
Second Phase
Prototype
Ultrasonic
IMU 6 DOF Digital 1
Magnetometer HMC5883L 1
GPS GTPA010
Servo
Battery 5V
Motor 5V
Implementation of first vehicle
Design of second vehicle
Implementation using Servo
3 Ultrasonic Sensors
IMU 6 DOF Digital
Magnetometer HMC5883L
GPS GTPA010
Motor 12V
Driver DC Motor Two Channel (7v-25v)
Lithium Battery
Arduino MEGA



Weeks 13~16
Weeks 17~20
Weeks 21~24
Weeks 25~29
Writing Two waypoint and Magneto Codes
Gathering information about the second car

Testing the new codes
Getting the second car components

Synchronizing Codes
Implement the second car

Testing the two cars
Get Destination
coordinates
Get location of vechile
from GPS
D<4m
Destination
reached
Get Position
from
magnetometer
-10<angle<10
Move Forward
Search for
position
yes
NO
YES
Enhanced Version 39
Three Ultrasonics
start reading
Check
right and left Sensors
D > 30 cm
Move Forward
Compare Readings and
choose the longest reading
direction
Turn in this direction
for 0.75 second
Yes
No
Obstacle Avoidance second Phase
No
Obstacle avoidance
Implementation using multiple ultrasonic sensors
car
Wp1
2
2
22
34
35
36
40
41
42
System Setup Errors
GPS Warm up

Current shortage

Magnetometer Calibration

Driver and motors
Two navigation system flow chart
44
45
46
TWO WAY NAVIGATION AND OBSTACLE AVOIDANCE FIRST PHASE
TWO WAY NAVIGATION AND OBSTACLE AVOIDANCE SECOND PHASE
38
43
Check
front Sensors
D > 30 cm
Yes
No
Full transcript