Ege Yüceel 22003324

Autonomous Tracking Vehicle

Project Overview

Main purpose of this project is to utilize BASYS3 board and VHDL programming language. In the term
project, an autonomous car will be built. Such car will have the ability to spot a target near itself and
follow it wherever that target goes. This implementation can be used in various applications from
enhancing the ability of autonomous driving cars to chase down an enemy rover to subsequently
terminate it.

Design Specification Plan

-Sensor Setup

The ultrasonic sensor and two IR sensors will be mounted on a small chassis placed at the front part of
rover. Ultrasonic sensor will be in the middle and measure the distance between the car and target
whereas two IR sensors at the sides will be responsible from the detection of object that moves out of
front range.

-Movement

Combination of two motors on each side will provide full range of motion. When two motors rotate at
opposite directions, vehicle will turn to the desired direction whereas when the motors rotate in the
same direction, the vehicle will either move forwards or backwards.

-Recognition and Action

IR sensors will have binary outputs and when only one of them produces 1, it can be understood that
the target stays at that direction; therefore, the car will rotate its motors to turn that direction in order
to center the car. In the case of car being centered, ultrasonic sensor will play its role. It will measure
the straight distance between targer and itself and board will later decide whether to move forward
or not. The speed of the car will also be proportional to the distance being measured. All these
operations will be performed inside BASYS3.

-Power Supply

Since the vehicle has to move around, a stationary usb power source seems as an illogical idea.
Although, a powerbank can be utilized, using a rechargable battery pack along with a appropriate
voltage regulator seemed more suitable. This part may change later according to requirements and
expectations.
Procedure

When the vehicle is started, the servo will start to rotate and the sensors will continuously scan around.
When the target is found, vehicle will lock itself to that target and start to follow it. The procedure can
later be terminated by turning a switch on BASYS3 board.

If there is time remaining, a manual mode will also be introduced. In that state, the autonomous state
will be disabled and the user will be able to navigate the vehicle via a wireless mouse plugged in
BASYS3.

Equipments

 HC-SR04 Ultrasonic Sensor

 2 IR20 Infrared Sensor Module
 L293B Motor Driver
 2 DC motors and Wheel set
 Servo Motor
 LM2596 DC-DC Voltage Regulator
 Jumper Cables
 External Battery Pack

Fig 1: IR20 Sensor Fig 2: HC-SR04 Fig 3: LM2596

Phase 1

Implementation of Ultrasonic Sensor and IR sensors to BASYS3. The analog measure of distance will be
displayed on segment along with binary inputs provided by two IR sensors.
Phase 2

Implementation of the servo motor and DC motors and the power supply. After this phase, the device
will reach its full mobility and will also be able to rotate its sensor module to find a target.

Progress Demo

At this stage, the entire phase 1 and, if possible, a part of phase 2 will be shown. If the entire project
finishes before expected, it is also possible to include the previously mentioned “manual mode” that
requires the implementation of a wireless mouse to control the vehicle.

Final Demo

Progress in phase1 and phase2 will be combined and motors will be able to navigate themselves
according to the input received from sensors. At this stage, the project will be complete.