F16: AutoNav

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Project Title

  • Autonomous RC Car

Abstract

This section should be a couple lines to describe what your project does.

Objectives & Introduction

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Team Members & Responsibilities

Sensor Controller:

  • Vishwanath Balakuntla Ramesh

Motor & I/O Controller:

Bluetooth (Communication Bridge) & Android Controller:

  • Sucharitha
  • Karthikeya Rao G V

Geographical Controller:

  • Arpita Ramanath
  • Veena Manasa Kanakamalla

Master Controller:

Schedule

Team Schedule

SI No. Start Date End Date Task Status Actual Completion Date
1 09/13/2016 09/27/2016
  • Team discussion on understanding the requirements.
  • Forming sub-teams and assigning individual modules to each sub-team
 Completed 09/26/2016
2 09/27/2016 10/11/2016
  • Follow up on buying RC car and other components.
  • Team discussion on project design approach.
 In Progress
3 10/12/2016 10/18/2016

Discussions on hardware design of the car including placements of sensor components, controllers etc.

Not Started
4 10/19/2016 10/25/2016

Discussion on proposals of developing CAN messages using DBC file.

Not Started
5 10/26/2016 11/08/2016

Discussions and proposals on basic obstacle avoidance algorithm with sensor integration, hands on and testing.

Not Started
6 11/09/2016 11/27/2016

Integration of other modules and components to the RC car. Navigational algorithm implemented and tested to form a complete autonomous driving algorithm.

Not Started
7 11/27/2016 12/15/2016

Testing the RC car in real world environments.

Not Started


Master Controller Schedule

SI No. Start Date End Date Task Status Actual Completion Date
1 10/10/2016 10/20/2016
  • Establishing CAN communication between master controller, sensor controller and Bluetooth controller.
  • Setting up heart beat monitoring based on periodic frequencies set on different controllers and send them to the master controller.
 Not Started
2 10/21/2016 10/31/2016
  • Master Controller should acquire obstacle range sensor data from sensor controller, control commands from Bluetooth controller.
  • Master controller should send directional control messages to motor controller to control the car to its desired path.
Not Started
3 10/26/2016 11/05/2016

Device and implement a simple obstacle avoidance algorithm on to the Master controller.

Not Started
4 11/06/2016 11/17/2016
  • Integrate Geo-controller to CAN communication and provide coordinate message information to Master controller.
  • Master controller has to acquire coordinates to be used for navigational algorithm.
  • Adding RPM sensor to take care of uphill driving for maintaining speed.
 Not Started
5 10/18/2016 11/29/2016
  • Get heading, bearing and speed information from Geo-controller.
  • Implement and test navigational algorithm.
 Not Started
6 11/30/2016 12/07/2016

Integrate navigation and avoidance algorithm.

Not Started
7 12/08/2016 12/15/2016

Final testing.

Not Started


Sensor Interface schedule

SI No. Start Date End Date Task Status Actual Completion Date
1 10/04/2016 10/11/2016 Reading datasheets of multiple sensors, Understand pros and cons of each sensor. Make an Order. Completed 10/10/2016
2 10/12/2016 10/18/2016 Write sample code for sensors and experiment with sensor output(filtering).
3 10/19/2016 10/25/2016
  • Create CAN communication with SJOne board.
  • Collaborate with Motor I/O team to achieve basic obstacle avoidance.
4 10/26/2016 11/7/2016 Add multiple sensors to the car and work on synchronization between them.
5 11/8/2016 11/22/2016 Integration testing with Master Controller and other boards.
6 11/23/2016 12/5/2016 Optimize the code, Finalize the operation (validate correctness) & Documentation

Parts List & Cost

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Design & Implementation

The design section can go over your hardware and software design. Organize this section using sub-sections that go over your design and implementation.

Motor & I/O Controller

Team Members: 

Sameer Saran
Jaswanth Bhimanapalli

Motor & I/O Controller Schedule

S.No. Start Date Projected End Date Task Status Actual Completion Date
1 10/04/2016 10/11/2016
  • Understand and implement PWM concepts to drive brushless DC motor and servo motor of the RC car.
  • Set PWM frequency range for varying duty cycle.
 In Progress N/A
2 10/11/2016 10/20/2016
  • Interfacing Brushless DC Motor & Servo Motors to SJ one board - implement duty cycles using provided PWM library.
  • Use terminal commands to test basic functionality like drive straight, turn left or right.
 Not yet started N/A
3 10/20/2016 11/05/2016
  • Implement CAN bus communication - setup CAN Msg ID acceptance filters, integration with sensor data and Master Controller.
  • Develop basic obstacle avoidance algorithm.
  • Testing of obstacle avoidance algorithm in real time.
Not yet started N/A
4 11/05/2016 11/15/2016
  • LCD interfacing to display messages from required controllers.
  • DBC File Implementation and integrating data structures generated from auto gen code.
Not yet started N/A
5 11/15/2016 11/25/2016
  • RPM sensor interfacing to develop Motor Feedback Control loop.
  • Up/down hill driving testing in real world.
 Not yet started N/A
6 11/25/2016 12/17/2016
  • Integration with RC Car controllers as one system.
  • Testing, debugging and optimization.
 Not yet started N/A

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.

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

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.

Bluetooth and Bridge Connections Schedule

SI No. Start Date End Date Task Status Actual Completion Date
1 09/25/2016 10/05/2016 Learning and Getting familiarized with Android SDK, Java, Bluetooth API and Google Maps API Completed 10/05/2016
2 10/05/2016 10/20/2016
  • Buttons and text insertion on the app. Ex: switch on and off Bluetooth, getting longitude latitude values on the phone
  • Placement of route markers on Google maps between source and destination
3 10/20/2016 10/31/2016
  • Establishment of communication between Bluetooth and the phone application by sending and receiving the values
  • Routing markers display on google maps for a straight line between source and destination
4 10/22/2016 10/30/2016 Interfacing Bluetooth module to SJ One board through UART and sending and receiving data between them.
5 10/30/2016 11/10/2016 Receive commands from SJ One to android application and test if right data is being sent
6 11/10/2016 11/22/2016 Testing the routing path and the basic testing of the application
7 11/22/2016 12/15/2016 Integration Testing and Final testing after integration of all the modules on the car.

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.

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.

Geographical Controller

Testing & Technical Challenges

Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.

Include sub-sections that list out a problem and solution, such as:

My Issue #1

Discuss the issue and resolution.

Conclusion

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Project Video

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Project Source Code

References

Acknowledgement

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References Used

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Appendix

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