IMPLEMENTATION OF AUTONOMOUS GROUND VEHICLE (AGV)

Captain Zin Maung Cho, Major Tun Lin Naing

ABSTRACT

An autonomous ground vehicle must be able to sense its location, navigate the way toward
destination, and avoid obstacles and perform a specific task. This research deals with a motion
planning of an autonomous ground vehicle to reach the goal safely in partially structured
environment. We will implement and validate our method by using mobile platform of Unmanned
Ground Vehicle (UGV) and associated sensory devices including ultrasonic distance sensors, Global
Positioning System (GPS) and Inertial Measurement Unit (IMU). Finally we will develop a control
system of UGV by implementing our proposed technique. The result of proposed technique will be
presented in experimental environment.
Keywords: Navigation, Autonomous Ground Vehicle, Fuzzy Logic Control, Target Tracking Fuzzy Logic
Control, Obstacle Avoiding Fuzzy Logic Control.

…………………………………………………………………………………………………..
1. INTRODUCTION
We have described an approach to
solving the motion-planning problem in
autonomous ground vehicle control using
fuzzy logic-based technique [1]. Our method
construction of a collision-free path for
moving the vehicle among obstacles is based
on three fuzzy logic controls: target tracking
fuzzy logic control (TTFLC) and two
obstacle avoiding fuzzy logic controls
(OAFLC). These three controls are
combined to move the vehicle to the goal
along a collision-free and shortest path. We
will firstly construct and validate our method
on MATLAB.
In this research, hardware equipment,
software strategy and other related
technologies will be integrated in order to
implement and validate the proposed system.
The result of proposed technique will be
presented in experimental environment.
2. HARDWARE EQUIPMENT
It includes input devices, main control
unit, output devices and data communication
system as shown in Figure 1. These
hardware equipment and their technical
specifications are briefly described as
following:
2.1 Input Devices
The following input devices are used:
(a) GPS Module (GARMIN GPS 18x-
5Hz)
(b) IMU Module (9 DOF Razor)
(c) Ultrasonic Distance Sensor (HC-
SR04)
(d) Laser Range Finder (SF10/C)
(e) Metal Gear Servo (Turnigy
MG959 V2 Alloy Digital)
2.2 Main Control Unit
The following input devices are used:
(a) Arduino Board (Mega 2560)
(b) Motor Control Drivers (Sabertooth
2x5A 6V-18V)
2.3 Output Devices
The following output devices are used:
(a) Geared Motor (Geared 75:1 Ratio
133 RPM)
(b) Tyre Wheel (Wicked Spiked
Terrain Tractor)
Figure 1. System Architecture of Autonomous Ground Vehicle (AGV)
2.4 Data Communication System
WIFI Module (USR-C215 Tiny Size
UART TTL TO 802.11B G N) is used as
Data Communication System.
3. SOFTWARE STRATEGY
3.1 Fuzzy Logic Navigation
To ensure our navigation system, we
have implemented and validated the fuzzy
logic controllers on simulation environment
using SIMULINK toolbox and FUZZY
LOGIC toolbox on MATLAB software.
According to the results of this simulation,
we will implement the fuzzy logic
controllers to main processor (Arduino
MEGA) of the control system. [1]
3.2 Distance and Bearing Calculation
between Two GPS Positions
The following equations are used:
(a) Distance Calculation (Haversine)
(b) Bearing Calculation (great-circle
arc)
3.3 Socket Programming
A socket is a communications
connection point (endpoint) that can be
named and addressed in a network. Socket
programming shows how to use socket APIs
to establish communication links between
remote and local processes. [4]
Sockets are commonly used for client-
server interaction. Typical system
configuration places the server on one
machine, with the clients on other machines.
The clients connect to the server, exchange
information, and then disconnect.
4. INTEGRATION
4.1 Main Control System
Main control system of UGV is
developed as shown in Figure 2.
 information according to acquired sensors
data. Then the UGV moves according to the
command of the operator.
4.1.1 Hardware Integration

All of hardware devices are fed their

respective electrical power. The I/O pin
diagram of main control system is shown in
Figure 4. An Android phone is used as IP-
camera.

Figure 2 Main Control System of UGV

The system flow of main control system

has been shown in Figure 3 and the overview
of hardware equipment of main control
system can be seen in Figure 1. The system
consists of both autonomous control mode
and semi-autonomous (combination of
manual and autonomous) control mode.
Firstly, the system senses the environment
Figure 3 System Flow of Main Control System
Figure 4 The I/O pin diagram of Main
Control System
4.1.2 Software Integration
Software integration of main control
system consists of the following:
(c) Collection of sensor data,
(d) Fuzzy logic navigation,
(e) Calculation of distance and bearing
between two GPS points, and
(f) Calculation of the relation of fuzzy
output and motor driver command.
4.2 Remote Interface Application
Remote interface application is
developed on Android-OS based mobile
phone (tablet) using Eclipse software to
control UGV as shown in Figure 6. The
system flow of remote interface application
is shown in Figure 5.
Figure 5 System Flow of Remote Interface Application

Figure 6 Remote Interface Application of

(a) Semi-autonomous
UGV
The interface must connect to main
control system. Via this application, the
operator can control semi-autonomously by
using manual control data and can also
control the UGV autonomously by uploading
the configuration of the goal. The operator
can also watch the sensor information of
UGV and notice the alert of the state of
collision.

The integration of remote interface

application includes the following:
(a) Socket programming,
(b) Preparing and sending control
data,
(c) Capturing video stream, and
(b) Autonomous
(d) Google Map.
5. EXPERIMENTAL RESULTS
The experimental part is divided into two
scenarios. In the first scenario, the developed
UGV is operated by using semi-autonomous
control system in the environment with
Figure 8 Experimental results of
obstacles. The UGV avoids all facing
Autonomous Control System
obstacles and wait the operator control data.
When the second scenario was tested ten
In the second scenario, the developed
times, the accuracy shown in Table 1 is
UGV is operated by using autonomous
obtained.
control system in the environment with
obstacles. The path of the experimental Table 1 Accuracy of Autonomous System
research is as shown in Figure 7.
Type of Mission Accuracy
Target Reaching 100%
Obstacle Avoiding
80%
(Rectangular Shape)
Obstacle Avoiding
80%
(Cylindrical Shape)
Obstacle Avoiding
90%
(Right Side)
Obstacle Avoiding
90%
(Left Side)
Figure 7 Path of experimental research 6. CONCLUSION
Figure 8 shows the real-time Some challenges are faced while the
experimental results of the second scenario. control system of autonomous ground
The UGV moves from the initial point to the vehicle is developed. One of the most
target point by passing through all facing challenging problems is the navigation of
obstacles. mobile robots in uncertain environments that
are densely cluttered with obstacles.
The proposed system has been
integrated by using the required technologies
and validated to achieve the objective. The
results of the research are tested in
experimental environment.

REFERENCES
[1] Captain Zin Maung Cho, Major Myo Tint, “Designing Fuzzy Logic Navigation
System for Autonomous Ground Vehicle (AGV)”, The Journal of Science and
Informatics, 36th Issue, Sep. 2017.
[2] Arduino Board (Mega 2560)
https://store.arduino.cc/usa/arduino-mega-2560-rev3
[3] Distance and Bearing Calculation between Two GPS Positions
http://www.movable-type.co.uk/scripts/latlong.html
[4] Socket Programming
https://www.ibm.com/support/knowledgecenter/ssw_i5_54/rzab6/rzab6.pdf
[5] WIFI Module (USR-C215 Tiny Size UART TTL TO 802.11B G N)
https://www.dhgate.com/store/product/usr-c215-tiny-size-uart-ttl-to-802-11b-
g/398880499.html
………………………………………………………………………………………………………………
.
Author:
Captain Zin Maung Cho, a graduate of B.C.Sc, was commissioned from Defence
Services Academy in 2007. He earned his M.Tech at Moscow State University of Railway
Engineering (Russian Federation) in 2012. Now he is serving as an assistant lecture of the
Department of Electronic, Communication and Automation System, DSSTRC.