Autonomous Navigation Rover  

The  goal of  this  project  was the study, design and modification of a children’s cart into an autonomous-navigating electric rover. The  developed  system  is  capable  of  recording  multiple  GPS  waypoints,  then  following  them  while  roaming in autonomous  navigation  mode. It  features  automated  obstacle detection and avoidance, provided the obstacles be larger than pre-determined minimum dimensions. Its power autonomy is about 60 minutes using a small 12V battery.  

The system was built around the Arduino Uno control board, which uses the AVR ATmega328P microcontroller (Atmel, USA). While in autonomous roaming mode, the system inputs are a digital compass, a GPS receiver and 3 ultrasound transceivers for obstacle detection. The system outputs are voltage control of the DC motor and the servo motor used for steering.

Operation of the rover is based on the following sub-systems:

             ·         GPS waypoint recording

             ·         autonomous navigation

             ·         obstacle detection and avoidance

             ·         steering control

             ·         propulsion control

The final product of the project is an experimental autonomous navigation platform codenamed ODYSSEUS. It was put through a series of evaluation tests, in order to determine its capabilities, weaknesses and optimum operation characteristics. As expected, from the point of view of speed and power autonomy, the best roaming terrain is smooth cement and tarmac. Even though the rover can reach a top speed of 8 klm/hr, optimal obstacle detection and avoidance suggest an upper speed limit of 6 klm/hr. 

Developed by: