F16: AutoNav

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Project Title

  • Autonomous RC Car

Abstract

The self-driving RC car navigates autonomously from a source point to destination avoiding obstacles. It consists of five micro-controllers namely Motor & I/O, Sensor, Geo, Bridge-Android and Master performing specific tasks.

  • Motor & I/O Controller - This controller takes care of driving and steering with the help of motors and displaying the status of car on the LCD.
  • Sensor Controller - Obstacle detection and avoidance will be taken care by this controller.
  • Geo Controller - Orientation(heading and bearing)and navigation of the car on a specified path will be determined by this controller.
  • Bridge-Android Controller - Co-ordinates for navigation are provided by this controller using an android application communicating with Bluetooth.
  • Master Controller - This collects the data from rest of the controllers and guides the car.

These five controllers are connected to five SJ One boards. Communication between all the five controllers is established using CAN bus.

Objectives & Introduction

Show list of your objectives. This section includes the high level details of your project. You can write about the various sensors or peripherals you used to get your project completed.

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

Consolidated Team Schedule

SI No. Start Date End Date Task Status Actual Completion Date
1 09/13/2016 09/27/2016
  • *Motor - Research and order RC car and additional batteries
  • *Sensor- Researching and understanding various sensor requirements for a self driving vehicle.
  • Shortlisting the sensors suitable for our application.
  • *GPS - Study previous projects. Research and order GPS and Compass module.
  • *Bluetooth - Learning and Getting familiarized with Android SDK, Java, Bluetooth API and Google Maps API.
  • *Master - 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.
 Completed 09/26/2016
2 09/27/2016 10/11/2016
  • *Motor - 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.
  • *Sensor - Reading datasheets of shortlisted sensors, Understand pros and cons of each sensor. Make an Order.
  • *GPS - Get familiar with data sheets of both modules. Identify relevant pins and understand the module schematics (GPS and IMU).
  • *Bluetooth - 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.
  • *Master - *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.
 Completed 10/11/2016
3 10/12/2016 10/18/2016
  • *Motor - 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.
  • *Sensor - Write sample code for sensors and experiment with sensor output(filtering).
  • *GPS - Interface GPS and Compass modules to SJOne board using UART. Test functionality of each module.
  • *Bluetooth - 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.
  • *Master - Design and implement a simple obstacle avoidance algorithm on to the Master controller.
Completed 10/20/2016
4 10/19/2016 10/25/2016
  • *Motor - 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.
  • *Sensor - DBC file implementation to establish CAN communication with Master controller.
  • Collaborate with Motor I/O team to achieve basic obstacle avoidance.
  • *GPS - Calibrate GPS and Compass modules. Write code to parse raw Compass and GPS readings. Test calibration of the modules.
  • *Bluetooth - Interfacing Bluetooth module to SJ One board through UART and sending and receiving data between them.
  • *Master - 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.
 In Progress
5 10/26/2016 11/08/2016
  • *Motor - LCD interfacing to display messages from required controllers. DBC File Implementation and integrating data structures generated from auto gen code.
  • *Sensor - Identify and implement a mechanism to avoid sensors from interfering with each other.
  • Add multiple sensors to the car and work on synchronization between them to achieve more precise obstacle avoidance.
  • *GPS - Establish CAN communication from Geo controller to Master controller. Send CAN messages of latitude, longitude, heading and bearing from Geo controller to master to set destination.
  • *Bluetooth - Receive commands from SJ One to android application and test if right data is being sent.
  • *Master - Get heading, bearing and speed information from Geo-controller.Implement and test navigational algorithm.
 Not Started
6 11/09/2016 11/27/2016
  • *Motor - RPM sensor interfacing to develop Motor Feedback Control loop. Up/down hill driving testing in real world.
  • *Sensor- Design and implement the circuit and software for Car's battery voltage monitoring and determining the State of charge(SOC).
  • Design and implement the software to read light sensor values and Tilt (angle of the car) sensor values.
  • *GPS - Test destination setting, navigation and synchronization with Master controller and Android app.
  • *Bluetooth - Testing the routing path and the basic testing of the application.
  • *Master - Integrate navigation and avoidance algorithm.
 Not Started
7 11/27/2016 12/15/2016
  • *Motor - Integration with RC Car controllers as one system. Testing, debugging and optimization.
  • *Sensor - Integration testing with Master Controller and other boards.
  • Optimize the code, Finalize the operation (validate correctness) & Documentation.
  • *GPS - Integrate Geo controller with the entire system. Test and debug code.
  • *Bluetooth - Integration Testing and Final testing after integration of all the modules on the car.
  • *Master - Final testing.
 Not Started

Parts List & Cost

Give a simple list of the cost of your project broken down by components. Do not write long stories here.

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.

Sensor Controller

Team Members: 

Vishwanath Balakuntla Ramesh

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).
Completed 10/16/2016
3 10/19/2016 10/25/2016
  • DBC file implementation to establish CAN communication with Master controller.
  • Collaborate with Motor I/O team to achieve basic obstacle avoidance.
4 10/26/2016 11/6/2016
  • Identify and implement a mechanism to avoid sensors from interfering with each other.
  • Add multiple sensors to the car and work on synchronization between them to achieve more precise obstacle avoidance.
5 11/8/2016 11/22/2016
  • Design and implement the circuit and software for Car's battery voltage monitoring and determining the State of charge(SOC).
  • Design and implement the software to read light sensor values and Tilt (angle of the car) sensor values.
6 11/23/2016 12/5/2016
  • Integration testing with Master Controller and other boards.
  • Optimize the code, Finalize the operation (validate correctness) & Documentation.

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.

Motor & I/O Controller

Team Members: 

Sameer Saran
Jaswanth Bhimanapalli


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 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

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

Team Members: 

Veena Manasa Kanakamalla
Arpita Ramanath


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.

Master Controller

Team Members: 

Ajai Krishna Velayutham
Goutam Madhukeshwar Hegde


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.
 In Progress
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

Design 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

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.

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

Conclude your project here. You can recap your testing and problems. You should address the "so what" part here to indicate what you ultimately learnt from this project. How has this project increased your knowledge?

Project Video

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Project Source Code

References

Acknowledgement

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References Used

List any references used in project.

Appendix

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