Transcript ex2ppt

EECS373 - Design of Microprocessor-Based System
Autonomous Obstacle Avoidance Vehicle
Alan Duanmu ([email protected])
Sheikh Shafeen Mahmud ([email protected])
Autonomous Obstacle Avoidance Vehicle
The vehicle was designed to maneuver around obstructions in
it path and be able to navigate itself through a room/hallway
without any external control. It does so by using it peripheral
sensors .
Peripheral
Controller Board
Actel
Smartfusion Board
Mounting
Plate
How the vehicle operates
The autonomous vehicle by default attempts to move forward without
letting itself be trapped or hindered by obstacles in its path. The
vehicle pre-emptively moves away from any direction from which it
senses an object large enough to be detected by its ultrasonic
sensors.
RZ Ultrasonic
Rangefinder
Battery Housing
Motor Controller Board
Problems During the Design Process
• Original Design included GPS unit to specify direction of travel, but
resolution was unsuitable for demonstration purposes.
• Malfunctioning motor controller units
• Original design lacked sufficient driving power to reasonably
operate the vehicle with the total weight of the system.
• Adjusting the resolution of the ultrasonic sensors the vehicle uses to
adjust itself.
(Possible) Future Work
• Improved obstacle detection using more sonar rangers and higher resolution sonar data.
• GPS and compass integration to fully realize its pathfinding potential.
Dagu Rover 5 Chassis