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GAUTAM KUMAR (II yr), NISHANT GOYAL (II yr), RAHUL KUMAR (II yr), DR. D.

BHAGWAN DAS Microprocessor Lab, DEI

INTRODUCTION
Design and development of an autonomous vehicle with special features such as:
GPS Based Navigation

Solar Powered

Obstacle Avoidance

ISSUES INVOLVED
An autonomous vehicle needs to do all and even more than what a manned vehicle will do such as tackling complex situations. The things of concern are:
Inaccuracy of sensors

Efficient management of power

Slow data transfer rate of GPS

Autonomous Vehicle Mechanical System Car frame Control System Micro controller Wireless Transceiver Sensors Navigation System GPS Remote Computer Power System Solar Panel Regulated Supplies

Motors

Speed Position
Longitude Latitude Altitude

Vehicle Balance

Variables of the system


Direction Proximity from obstacles Time

MECHANICAL SYSTEM
Car frame
Fiber body toy car

Motors
Rear wheel drive motor: 6 volt, 1400 rpm Stepper motor: 6 volt

Work accomplished
Module for stepper motor control developed and

implemented Motors attached to the car frame

CONTROL SYSTEMS
8051 Microcontroller:

4 KB ROM, 128 B RAM 2 timers, 32 I/O pins 1 Serial port 6 interrupt sources

Wireless transceiver
Transmitter-receiver system to send and receive data

Sensors
Proximity sensor measures the proximity of obstacle Wheel encoders measure the distance and speed Gyroscopic sensors measures the balance of vehicle

CONTROL SYSTEM
Modules completed and tested on 8051 microcontroller for
moving the vehicle forward, backward to turn left and right

Testing of completed modules on wireless transceiver accomplished for sending and

receiving data from remote computer Work in progress:

Development of modules for obstacle avoidance

based on sensors Implementation of fuzzy logic for compensating inaccuracy of sensors

NAVIGATION SYSTEM
GPS: Global Positioning System
Links with satellites Receives geological coordinates, time, date,

etc in NMEA format Supports 9600 and 19200 baud rates

Remote computer
Secondary control to the vehicle

NAVIGATION SYSTEM
Software module developed and tested for
Interpretation of data received through GPS Extraction of coordinates from GPS data

Work under progress


Implementation of algorithms for compensating

Limited data transfer rate and range of GPS Slow data transfer rate of wireless transceiver

POWER SYSTEM
Solar panels
15 Watt 5 AH per day

Battery
Rechargeable lead battery 12 volts, 4.5 AH

Regulated supply for


Motors: 6 volts Microcontroller: 7.8 volts GPS: 3.5 volts Transceiver: 5 volts

POWER SYSTEM
Solar powered vehicle already developed in

the Faculty Of Engineering Electronic circuitry of regulated supplies designed and tested

CONTROL FLOW
Remote computer Satellites

Transceivers

Microcontroller

GPS

Sensors

Motors

FLOW OF LIFE IN THE VEHICLE


Feed the coordinates of the final position Coordinate of initial position known through

GPS Vehicle starts moving following the map Invokes obstacle avoidance algorithm when required Choose next possible path Finally stop at the destination

CONCLUSION
Autonomous vehicle under development

using systems approach Autonomous vehicle treated as system and subsystems identified Subsystems successfully developed and tested Physical integration of these subsystems and realization in progress

FUTURE PLANS
The autonomous vehicle under development

here is just a prototype Ultimate aim is to employ such a 4/5 seater vehicle to serve old and disabled inside the community of DAYALBAGH

REFERENCE
Md. Ali Mazidi, J. G. Mazidi, R. D. McKinlay.

The 8051 Microcontroller and Embedded Systems using Assembly and C, Second Edition Web page of The National Program on Technology Enhanced Learning (NPTEL) http://nptel.iitm.ac.in/ Web page of Atmel corporation http://www.atmel.com/