This project focused on building a GPS controlled 6-wheel autonomous robot. It is a self-guided autonomous robot, which can be maneuvered with the help of GPS module and compass together interfaced with the microcontroller Arduino Mega. The 6-wheels of the robot are interfaced with monster motor shield and then connected to the Arduino Mega. The speed of the robot is controlled using PWM signals sent from the Arduino board. When the robot starts, it locates its current position using the GPS module. The destination coordinates are already given in the code. Once the current location is fixed, it calculates the distance and heading between the two points. The compass module tells the current heading of the robot. The final heading is calculated by taking the difference between actual heading and current heading. With the help of final heading angle, the robot moves towards its desired location. As the robot moves close to the destination the distance reduces. The minimum distance is predefined as 5 meters in the algorithm since the precision of GPS module is within the range of 5 to 6 meters. Once the distance is less than 5 meters the robot stops, assuming it has reached to the destination location.
The purpose of building this robot was to guide the robot to multiple locations autonomously with the destination locations predefined in the algorithm. To maneuver the robot to the multiple locations it is very important to calculate the accurate distance and heading. For this project, the main task was to design an algorithm that can calculate the exact distance between any two locations and guide the robot in the proper direction. The motors used for this project have high torque and the updating speed of the GPS module is slow. It was very important to keep the speed of the motor very low and change the speed of the motor only when there was a need to change the direction of the robot. The algorithm designed was able to fulfill these tasks and guided the robot to multiple locations and reach the final destination.
|Commitee:||Ary, James, Shahian, Bahram|
|School:||California State University, Long Beach|
|School Location:||United States -- California|
|Source:||MAI 55/05M(E), Masters Abstracts International|
|Subjects:||Electrical engineering, Robotics|
|Keywords:||6 wheel robot, Autonomous robot, GPS device, GPS guided robot, GPS robot|
Copyright in each Dissertation and Thesis is retained by the author. All Rights Reserved
The supplemental file or files you are about to download were provided to ProQuest by the author as part of a
dissertation or thesis. The supplemental files are provided "AS IS" without warranty. ProQuest is not responsible for the
content, format or impact on the supplemental file(s) on our system. in some cases, the file type may be unknown or
may be a .exe file. We recommend caution as you open such files.
Copyright of the original materials contained in the supplemental file is retained by the author and your access to the
supplemental files is subject to the ProQuest Terms and Conditions of use.
Depending on the size of the file(s) you are downloading, the system may take some time to download them. Please be