Autonomous Dual Navigation System Vehicle自治的双重导航系统的车辆.ppt

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1、AutonomousDualNavigationSystemVehicleDmitriyBekkerSergeiKunsevichComputerEngineeringRochesterInstituteofTechnologyDecember1,2005Advisor:Dr.RoyCzernikowskiProjectDesignReviewOutlineProjectoverviewSystemdescriptionAchievingobjectivesVehiclemotorsDetailedsystemviewCompone

2、ntinterfaceOperationalboundariesSensorplacementUserinterfaceSystemanalysisGPSWirelesscommunicationSensorconcernsWherewestandnowBudgeting(keycomponents)ProjectOverview–SystemDescriptionAutonomousDualNavigationSystemVehicleAvehiclethatcanautonomouslynavigateitselftousers

3、pecifiedwaypointswhilereportingandavoidingobstaclesontheway.Vehiclebaseisa1:6modelofHummerH2UsestwosystemsfornavigationGPSElectroniccompassandopticalshaftencoderUserinterfacefrombasestation(throughwirelessconnection)VehiclecannavigatewithoutGPS(whennosignal)Obstaclesde

4、tectedwithrotatingultrasonicrangefinderProjectOverview–AchievingObjectivesMovingtoadestinationDetermineangularorientation(compass)anddistancetodestinationTurntowardsdestinationandstartmovingTrackingvehiclemovementWithGPS(whenavailable)WithcompassandopticalshaftencoderO

5、bstaclesDetectedwithultrasonicrangefinderNeedtoresearchsuitableobstacleavoidancealgorithmsElectroniccompass(DevantechCMPS03)OpticalshaftencoderGPS(Garmin15L)Ultrasonicrangefinder(ParallaxPING)ProjectOverview–VehicleMotorsThevehiclewillmoveusing:OneDCmotorforforward/rev

6、ersemotionoftherearwheelsOneservomotortosteerthefrontwheelsTheultrasonicrangefinderwillrotateusingasecondservomotorFrontfacing180°rotationDetailedSystemOverview–ComponentInterfacePWMportDetailedSystemOverview–OperationalBoundariesFordemo,thevehicleneedsaflatsurfacewi

7、thminimumornosurfaceparticles(likesnow,ice,rocks,etc)GPScapabilitycanonlybedemonstratedoutdoorsIndoorsthevehiclecanonlynavigateusingcompassandopticalshaftencoderCompassissensitivetomagneticfields,sovehicleshouldbeoperatedawayfromlargemetallicobjectsandhighpowerelectron

8、icsObstacleplacementconstraintswillbedeterminedonceasuitableobstacleavoidancealgorithmischosenDetailedSystemOverview–