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DESIGN AND DEVELOPMENT OF A SOLAR POWERED GPS GUIDED AUTONOMOUS VEHICLE USING SYSTEMS APPROACH GAUTAM KUMAR (II yr), NISHANT GOYAL (II yr), RAHUL KUMAR (II yr), DR. D. BHAGWAN DAS Microprocessor Lab, DEI

semi autonomous gps guided solar powered vehicle

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Page 1: semi autonomous gps guided solar powered vehicle

DESIGN AND DEVELOPMENT OF A SOLAR POWERED GPS

GUIDED AUTONOMOUS VEHICLE USING SYSTEMS

APPROACHGAUTAM KUMAR (II yr), NISHANT GOYAL (II yr),

RAHUL KUMAR (II yr), DR. D. BHAGWAN DAS

Microprocessor Lab, DEI

Page 2: semi autonomous gps guided solar powered vehicle

INTRODUCTION

Design and development of an autonomous vehicle with special features such as:

GPS Based Navigation

Solar Powered

Obstacle Avoidance

Page 3: semi autonomous gps guided solar powered vehicle

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

Page 4: semi autonomous gps guided solar powered vehicle

Autonomous Vehicle

Mechanical System

Car frame

Motors

Control System

Micro controller

Wireless Transceive

r

Sensors

Navigation System

GPS

Remote Computer

Power System

Solar Panel

Regulated Supplies

Page 5: semi autonomous gps guided solar powered vehicle

Variables of the

system

Speed

Vehicle Balance

TimeProximity

from obstacles

Direction

Position•Longitude•Latitude•Altitude

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Control system

Send data()Receive data()Extract coordinates()Extract time()

Navigation systemObstacle avoid()Turn(angle)Move forward(dist)Move backward(dist)Stop()

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Power system

Solar panelsRegulated supply

3.5 Volts6 volts7.8 volts

PRIMITIVES

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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

Page 8: semi autonomous gps guided solar powered vehicle

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

Page 9: semi autonomous gps guided solar powered 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

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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

Page 11: semi autonomous gps guided solar powered 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

Page 12: semi autonomous gps guided solar powered vehicle

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

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POWER SYSTEM

Solar powered vehicle already developed in the Faculty Of Engineering

Electronic circuitry of regulated supplies designed and tested

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Microcontroller GPS Motors

Sensors Transceivers

Satellites Remote computer

CONTROL FLOW

`

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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

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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

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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

Page 18: semi autonomous gps guided solar powered vehicle

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/