Difference between revisions of "F16: AutoNav"

Revision as of 01:19, 19 December 2016

Project Title

• Autonomous RC Car

Abstract

This project report describes an attempt to develop an autonomous RC car which navigates from a source point to destination avoiding any obstacles in between. The project was divided into five modules namely Motor & Input/output Controller, Sensor Controller, Geo Controller, Communication Bridge & Android Controller and Master Controller, each performing specific set of tasks. Each of the five modules were established using SJOne Boards. Communication between all the five modules was established using CAN Bus.

• Motor & I/O Controller - This controller was responsible for driving Brushless DC Motor interfaced through ESC, driving the stepper motor for steering and displaying the status of the RC car (speed, obstacle distance etc.) on the LCD.
• Sensor Controller - This controller was responsible for obstacle detection and avoidance, interfacing done with Ultrasonic Ping Sensors.
• Geo Controller - This controller focused on providing orientation (heading and bearing) and navigation route to the car.
• Communication Bridge & Android Controller - Co-ordinates for navigation were provided by this controller using an android application. Communication was established via Bluetooth.
• Master Controller - This controller was responsible for collecting the data from all the controllers, develop and implement obstacle avoidance algorithm to guide the car towards the final destination.

Objectives & Introduction

The main objectives of this project include:

• To develop an autonomous RC Car.
• To navigate from a set source to destination.
• To avoid any obstacles in between.
• To establish all communication between controllers via CAN bus.

The following peripherals of LPC 1758 were used to establish communications:

• CAN Peripheral: Communicate between all the controllers on a common CAN bus.
• UART Peripheral: Communicate between GEO Controller and GPS module, Bluetooth controller and Bluetooth module.
• GPIO: Communicate between sensors and sensor controller.
• PWM: Vary the speed of Brushless DC motor and Stepper motor via ESC interfaced through Motor Controller.

The block diagram below gives an overview of the various peripherals used:

Peripheral block diagram

Team Members & Responsibilities

Sensor Controller:

• Vishwanath Balakuntla Ramesh

Motor & I/O Controller:

• Sameer Saran
• Jaswanth Bhimanapalli

Bluetooth (Communication Bridge) & Android Controller:

• Sucharitha
• Karthikeya Rao G V

Geographical Controller:

• Arpita Ramanath
• Veena Manasa Kanakamalla

Master Controller:

• Ajai Krishna Velayutham
  
• Goutam Madhukeshwar Hegde

Schedule

Consolidated Team Schedule

Parts List & Cost

DBC File Implementation

DBC files are widely used to define the system of CAN messages and their constituent signals. This allows CAN data to be accessed in terms of human-usable signal values, with different data types and scaling, instead of just raw message bytes. Below is the DBC file that we implemented in our project.

VERSION ""

NS_ :
	BA_
	BA_DEF_
	BA_DEF_DEF_
	BA_DEF_DEF_REL_
	BA_DEF_REL_
	BA_DEF_SGTYPE_
	BA_REL_
	BA_SGTYPE_
	BO_TX_BU_
	BU_BO_REL_
	BU_EV_REL_
	BU_SG_REL_
	CAT_
	CAT_DEF_
	CM_
	ENVVAR_DATA_
	EV_DATA_
	FILTER
	NS_DESC_
	SGTYPE_
	SGTYPE_VAL_
	SG_MUL_VAL_
	SIGTYPE_VALTYPE_
	SIG_GROUP_
	SIG_TYPE_REF_
	SIG_VALTYPE_
	VAL_
	VAL_TABLE_
	
BS_:
 
BU_: DRIVER BLUETOOTH SENSOR MOTOR GEO

BO_ 100 KILL_SWITCH: 1 DRIVER
 SG_ killSwitch : 0|1@1+ (1,0) [0|0] "Stop=1" MOTOR

BO_ 110 STOP_CMD: 1 BLUETOOTH
 SG_ BLUETOOTH_STOP_CMD_signal : 0|1@1+ (1,0) [0|0] "Stop=1" DRIVER

BO_ 120 MOTOR_SYNC: 1 MOTOR
 SG_ Motor_Sync : 0|1@1+ (1,0) [0|0] "MotorSync=1" DRIVER

BO_ 130 GEO_SYNC: 1 GEO
 SG_ Geo_sync_cmd : 0|1@1+ (1,0) [0|0] "GeoSync=1" DRIVER
  
BO_ 140 BLUETOOTH_SYNC_CMD: 1 BLUETOOTH
 SG_ BLUETOOTH_SYNC_CMD_signal : 0|1@1+ (1,0) [0|0] "BluetoothSync=1" DRIVER
  
BO_ 150 SENSOR_SYNC: 1 SENSOR
 SG_ Sensor_Sync : 0|1@1+ (1,0) [0|0] "SensorSync=1" DRIVER,MOTOR,BLUETOOTH
 
BO_ 160 ERROR_COMM_DRIVER: 1 DRIVER
 SG_ Sync_Miss_Info : 0|8@1+ (1,0) [0|0] "ErrorMsgType" MOTOR
 
BO_ 170 DRIVER_SYNC_ACK: 1 DRIVER
 SG_ Sync_Miss_Info : 0|1@1+ (1,0) [0|0] "DriverSync=1" MOTOR,BLUETOOTH,SENSOR,GEO
 
BO_ 180 MOTOR_CONTROL: 2 DRIVER
 SG_ steer : 0|8@1+ (1,0) [0|0] "DirectionType" MOTOR    
 SG_ speed : 8|8@1+ (1,0) [0|0] "SpeedType" MOTOR  
  
BO_ 181 MOTOR_RPS: 2 MOTOR
 SG_ Rps_Sensor : 0|8@1+ (1,0) [0|0] "RotationsPerSecondENum" DRIVER,BLUETOOTH
 SG_ Rps_Value : 8|8@1+ (1,0) [0|0] "RotationsPerSecondValue" BLUETOOTH,DRIVER

BO_ 190 SENSOR_SONAR: 5 SENSOR
 SG_ Sensor_Sonar_Front : 0|8@1+ (1,0) [0|0] "FrontDistance" DRIVER,MOTOR,BLUETOOTH
 SG_ Sensor_Sonar_FrontRight : 8|8@1+ (1,0) [0|0] "FRightDistance" DRIVER,MOTOR,BLUETOOTH
 SG_ Sensor_Sonar_FrontLeft : 16|8@1+ (1,0) [0|0] "FLeftDistance" DRIVER,MOTOR,BLUETOOTH
 SG_ Sensor_Sonar_Back : 24|8@1+ (1,0) [0|0] "BackDistance" DRIVER,MOTOR,BLUETOOTH
 
BO_ 200 GEO_SEND_LOCATION: 8 GEO
 SG_ Geo_latitude : 0|32@1+ (0.000001,-90.000000) [-90|90] "latitude" DRIVER,BLUETOOTH,MOTOR
 SG_ Geo_longitude : 32|32@1+ (0.000001,-180.000000) [-180|180] "longitude" DRIVER,BLUETOOTH,MOTOR

BO_ 210 GEO_SEND_HD_BR: 8 GEO
 SG_ Geo_heading : 0|29@1+ (0.000001,0) [0|360] "" DRIVER,MOTOR
 SG_ Geo_bearing : 29|29@1+ (0.000001,0) [0|360] "" DRIVER,MOTOR

BO_ 220 NAVIGATION_WAYPOINT: 2 BLUETOOTH
 SG_ Bluetooth_CurrWaypoint : 0|5@1+ (1,0) [0|0] "CurrentWaypointNumber" DRIVER,GEO
 SG_ Bluetooth_NumWaypoint : 5|5@1+ (1,0) [0|0] "NumberOfWaypoints" DRIVER,GEO

BO_ 250 LATITUDE_LONGITUDE: 8 BLUETOOTH
 SG_ Bluetooth_latitude : 0|32@1+ (0.000001,-90.000000) [-90|90] "latitude" DRIVER,GEO
 SG_ Bluetooth_longitude : 32|32@1+ (0.000001,-180.000000) [-180|180] "longitude" DRIVER,GEO

BO_ 230 START_CMD: 1 BLUETOOTH
 SG_ BLUETOOTH_START_CMD_signal : 0|8@1+ (1,0) [0|0] "" DRIVER
 
BO_ 240 SENSOR_BATTERY: 8 SENSOR 
 SG_ Sensor_Battery_Voltage : 0|8@1+ (0.1,0) [0|0] "Volts" DRIVER,MOTOR,BLUETOOTH
 SG_ Sensor_Battery_SOC : 8|10@1+ (0.1,0) [0|0] "Percent" DRIVER,MOTOR,BLUETOOTH
 SG_ Sensor_Light : 18|10@1+ (0.1,0) [0|0] "LightPercentValue" DRIVER,MOTOR,BLUETOOTH
 SG_ Sensor_Tilt_X : 28|12@1+ (0.1,0) [0|0] "TiltValueX" DRIVER,MOTOR,BLUETOOTH
 SG_ Sensor_Tilt_Y : 40|12@1+ (0.1,0) [0|0] "TiltValueY" DRIVER,MOTOR,BLUETOOTH
 
BO_ 500 DRIVER_TEST: 1 DRIVER
 SG_ Driver_Test_Msg : 0|8@1+ (1,0) [0|0] "" MOTOR,GEO,SENSOR,BLUETOOTH

BO_ 600 MOTOR_TEST: 1 MOTOR
 SG_ Motor_Test_Msg : 0|8@1+ (1,0) [0|0] "" DRIVER,GEO,SENSOR,BLUETOOTH
 
BO_ 700 SENSOR_TEST: 1 SENSOR
 SG_ Sensor_Test_Msg : 0|8@1+ (1,0) [0|0] "" DRIVER,MOTOR,GEO,BLUETOOTH
 
BO_ 800 GEO_TEST: 1 GEO
 SG_ Geo_Test_Msg : 0|8@1+ (1,0) [0|0] "" DRIVER,MOTOR,SENSOR,BLUETOOTH
 
BO_ 900 BLUETOOTH_TEST: 1 BLUETOOTH
 SG_ Bluetooth_Test_Msg : 0|8@1+ (1,0) [0|0] "" DRIVER,MOTOR,GEO,SENSOR
 
CM_ BU_ DRIVER "The DRIVER controller driving the car";
CM_ BU_ MOTOR "The motor controller of the car";
CM_ BU_ SENSOR "The sensor controller of the car";
CM_ BU_ GEO "The geo controller of the car";
CM_ BU_ BLUETOOTH "The bridge controller of the car";
CM_ BO_ 100 "Sync message used to synchronize the controllers";

BA_DEF_ "BusType" STRING ;
BA_DEF_ BO_ "GenMsgCycleTime" INT 0 0;
BA_DEF_ SG_ "FieldType" STRING ;

BA_DEF_DEF_ "BusType" "CAN";
BA_DEF_DEF_ "FieldType" "";
BA_DEF_DEF_ "GenMsgCycleTime" 0;

BA_ "GenMsgCycleTime" BO_ 500 10;
BA_ "FieldType" SG_ 180 steer "steer";
BA_ "FieldType" SG_ 180 speed "speed";
BA_ "FieldType" SG_ 181 Rps_Sensor "Rps_Sensor";
BA_ "FieldType" SG_ 190 Sensor_Sonar_Front "Sensor_Sonar_Front";
BA_ "FieldType" SG_ 190 Sensor_Sonar_FrontRight "Sensor_Sonar_FrontRight";
BA_ "FieldType" SG_ 190 Sensor_Sonar_FrontLeft "Sensor_Sonar_FrontLeft";
BA_ "FieldType" SG_ 190 Sensor_Sonar_Back "Sensor_Sonar_Back";

VAL_ 190 Sensor_Sonar_Front 3 "far_f" 2 "mid_f" 1 "near_f" 0 "danger_f" ;
VAL_ 190 Sensor_Sonar_FrontRight 2 "far_fr" 1 "mid_fr" 0 "near_fr" ;
VAL_ 190 Sensor_Sonar_FrontLeft 2 "far_fl" 1 "mid_fl" 0 "near_fl" ;
VAL_ 190 Sensor_Sonar_Back 2 "far_b" 1 "mid_b" 0 "near_b" ;
VAL_ 180 steer 4 "right" 3 "sright" 2 "sleft" 1 "left" 0 "straight" ;
VAL_ 180 speed 4 "brake" 3 "reverse" 2 "normal" 1 "slow" 0 "stop" ;
VAL_ 181 Rps_Sensor 2 "high" 1 "equal" 0 "low" ;

Design & Implementation

Please refer to the system block diagram below:

System Block Diagram

Description

Assuming the car would be given the necessary connections and be powered up to navigate, we would give the first signal to start the car from the Bluetooth device by sending a start signal of "1". Once the Start signal is received by the Master controller, it would receive the signals from the sensors and the GPS as well. Based on the data from all these systems, Master controller decides the command to be given to the Motor controller. Motor on receiving the instructions from the Master would move in a particular direction suggested by Master. Motor would also revert the path in which it is going, RPM values to Master, Bluetooth and LCD display over the CAN. Meanwhile the Bluetooth would be fetching the messages from the CAN and would filter out on the messages by their ID's and later send the required signals such as GPS and RPM values to the Android device, which is displayed to the user in their respective text boxes.

Sensor Controller

Team Members:

Vishwanath Balakuntla Ramesh

Hardware Design

We used 3 Parallax Ping ultrasonic distance sensors for obstacle detection and avoidance. Non-contact distance can be measured from about 2 cm (0.8 inches) to 3 meters (3.3 yards).

The PING))) sensor works by transmitting an ultrasonic burst and providing an output pulse that corresponds to the time required for the burst echo to return to the sensor. By measuring the echo pulse width, the distance to target can easily be calculated.

Three sensors were placed in front (front_left, front_center, front_right).

Parallax ping sensor

Hardware Interface

In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.

Parralax Ping Sensor Operation

Sensor Ping Operation

Software Design

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Implementation

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Motor & I/O Controller

Team Members:

Sameer Saran
Jaswanth Bhimanapalli

Hardware Design

Block Diagram for Motor

Hardware Interface

In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.

Hardware/Software Interface

Below are the snaps of the LCD Screens:

LCD Screen 1

LCD Screen 2

LCD Screen 3

LCD Screen 4

LCD Screen 5

Tasks

Brushless DC Motor

void drive(steer_E steer,speed_E speed)
{

	static int servoVal,servo_Currentval=STRAIGHT*100;
	servoVal = get_Servopwm(steer);
	while(servoVal!=servo_Currentval)
		{	
			if(servo_Currentval>servoVal)
			{
			servo_Currentval-=5;
			MotorCtrl.set_servo(servo_Currentval*0.01);
			delay_ms(5);
			}
			else if(servo_Currentval<servoVal)
			{
			servo_Currentval+=5;
			MotorCtrl.set_servo(servo_Currentval*0.01);
			delay_ms(5);
			}
		}
		if(servoVal==servo_Currentval)
		{
		MotorCtrl.set_servo(servo_Currentval*0.01);
		delay_ms(5);
		}

Servo Motor

class MotorCtrl : public SingletonTemplate<MotorCtrl>
{
	public:
		MotorCtrl() : steerServo(PWM::pwm1),driveDc(PWM::pwm2)
		{
			//Constructor
		}
		void set_servo(float value) {steerServo.set(value);}
		void set_dc(float value){driveDc.set(value);}
		friend class SingletonTemplate<MotorCtrl>;

	private:
		PWM steerServo;
		PWM driveDc;

};

#define MotorCtrl MotorCtrl::getInstance()

Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.

Implementation

This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.

Bluetooth and Bridge(Android) Connections

Team Members:

Sucharitha Sirigreddy
Karthikeya Rao GV

This section includes high level implementation details regarding the Android app connectivity with the Bluetooth module of the RC car. It gives a overview of building the android app, communication between the Bluetooth and Android app on a mobile device, routing mechanisms during the navigation.

Hardware Design

Bluetooth Controller Pin Connections

Below attached is the image of the Bluetooth Module HC-06.

Bridge Controller Design

Hardware Interface

Below is the representation of the bridge communication.

Bridge Controller Design

Hardware Interface between the Bluetooth controller and the car system has been wired through the CAN bus. P0.1 is connected to CAN Tx and P0.0 is connected to CAN Rx, where communication between the Bluetooth module and other modules happen. RXD and TXD pins are connected to Bluetooth HC-06 to enable communication between the Android mobile device and the Bluetooth module. Power supply and Ground pins to SJone board i.e Bluetooth module is provided by battery, which would power up all the SJone boards. Power to the HC-06 module is given by the SJone Bluetooth board 3.3V and GND pins. Thus enabling the Interface between Bluetooth module and the other controllers.

Software Design

Software interface between HC-06 and Android device is enabled via Bluetooth transmission and reception.

Flow Chart:

Flow Chart of the Bluetooth and Android design is as follows.

Android and Bluetooth Controller Flow Chart

Android-Bluetooth Controller Button's Functionality Table

Implementation

through the Android application the Bluetooth would be paired with HC-06 module on click of BTon button, which turns on the Bluetooth on the android phone and connects to Car’s HC-06 Bluetooth device. Post which, we would send a start signal from the app, which would sync and start the car. This signal is hardcoded as ‘1’, and is encoded before sending from the android. This signal when received from the Bluetooth module, would decode and read the message and later encode and pass it on over the CAN to the Master.

After this syncing, the Master would initiate other modules; post which GPS module would send the location signal over the CAN. This signal is again decoded and sent over to the Android as a line having latitude and longitude and prefixed with respective signals, ex: RPM for RPM values and post-fixed with “!” , for easier identification in the Android. Location button would enable the current location of the device, which would be marked on the map, this would be enabled on click of start itself. This would also enable Bluetooth module to detect the messages over the CAN to be displayed on the app, like RPM values and GPS data. These are again encoded and sent over to Android, which would display them in respective text boxes.

Route Button on the app would be initiated once we set these and the source and destination by 2 clicks on the maps in the app and start getting the GPS location from HC-06. Route Button on click would detect the GPS location from the car and send out next way points till the destination. The Kill switch is implemented as Stop Button, which sends of “0” signal, which is received by the Bluetooth and sent over the CAN Bus to master, to stop the Motor.

Geographical Controller

Team Members:

Veena Manasa Kanakamalla
Arpita Ramanath

Hardware Design

System Block Diagram

Geo Block Diagram

Geographical Controller Hardware Design Components

Adafruit MTK3339 GPS: This GPS unit is interfaced via UART with build in antenna. The GPS provides latitude and longitude accurately up to 5-10 meters with a strong satellite fix with update rate of 10Hz. By default, the baud rate is 9600bps. Power usage for this module is 20mA during navigation. The GPS module comes with following capabilities: -165 dBm sensitivity, 10 Hz updates, 66 channels 5V friendly design and only 20mA current draw Breadboard friendly + two mounting holes RTC battery-compatible Built-in datalogging PPS output on fix Internal patch antenna + u.FL connector for external active antenna Fix status LED We chose this part because it provided the base functionality we needed along with many other functions that would be fun to play with and try to include in the project. The antennae options and voltage regulator were also very enticing. We get raw GPS "NMEA sentence" output from module. The most important NMEA sentences include the GGA which provides the current Fix data, the RMC which provides the minimum gps sentences information, and the GSA which provides the Satellite status data. We are filtering the data for GGA (Time, Position and Fix type data), which will look similar to: $GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47 GGA Global Positioning System Fix Data 123519 Fix taken at 12:35:19 UTC 4807.038,N Latitude 48 deg 07.038' N 01131.000,E Longitude 11 deg 31.000' E 1 Fix quality 08 Number of satellites being tracked 0.9 Horizontal dilution of position 545.4,M Altitude, Meters, above mean sea level 46.9,M Height of geoid (mean sea level) above WGS84 ellipsoid (empty field) time in seconds since last DGPS update (empty field) DGPS station ID number *47 the checksum data, always begins with *		GPS
GPS Pin Connections IMU Pin Connections 9 Degrees of Freedom- Razor IMU: In our project, we used IMU module to get the heading of the device. The 9DOF Razor IMU provides nine degree of inertial measurement incorporates three sensors - an ITG-3200 (MEMS triple-axis gyro), ADXL345 (triple-axis accelerometer), and HMC5883L (triple-axis magnetometer). The outputs of all sensors are processed by an on-board ATmega328 and output over a serial interface. UART interface is used for interfacing with SJ One board and it is connected via UART3 with LPC board and is operated at 3.3V. Features: 9 Degrees of Freedom on a single, flat board: ITG-3200 - triple-axis digital-output gyroscope ADXL345 - 13-bit resolution, ±16g, triple-axis accelerometer HMC5883L - triple-axis, digital magnetometer Outputs of all sensors processed by on-board ATmega328 and sent out via a serial stream Autorun feature and help menu integrated into the example firmware Output pins match up with FTDI Basic Breakout, Bluetooth Mate, XBee Explorer 3.5-16VDC input ON-OFF control switch and reset switch		9DOF-IMU

IMU Pin Connections

IMU Pin Connections

Hardware Interface

In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.

Software Design

Flowchart

IMU Pin Connections

Implementation

This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.

Master Controller

Team Members:

Ajai Krishna Velayutham
Goutam Madhukeshwar Hegde

Master Controller Schedule

Hardware Design

Discuss your hardware design here. Show detailed schematics, and the interface here.

Hardware Interface

In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.

Software Design

Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.

Navigation Algorithm

Steer control based on turn angle

Implementation

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Testing & Technical Challenges

Issue #1 (Motor I/O)

• One of our boards got burnt while testing Brushless DC Motor. We would highly recommend using an Optoisolator such as ILQ74 for additional protection from reverse current etc. if you are synchronizing with the ESC for the first time.

Issue #2 (Project Hardware)

Issue #3 (Project Hardware)

Issue #4 (Geo controller software)

Issue #5 (Motor Controller software)

Issue #6 (Master Controller software)

Miscellaneous Issues

Conclusion

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Project Video

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GitLab Source Code

• Git Code for Team AutoNav

References

Acknowledgement

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References Used

List any references used in project.

Appendix

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