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1. Item Cost per unit unit Price L293D Dual H bridge RM 10 8 2 RM 21 6 IC 74HC595N Shift Register RM 1 2 1 RM 1 2 Printed Circuit Board Fabricated RM 8 1 RM 8 IC Socket 16 pins RM 0 4 2 RM 0 8 LED 3mm RM 0 1 2 RM 0 2 Resistor 0 35W 5 1 5 RM 0 05 1 RM 0 05 Resistor 0 35W 5 10k RM 0 05 1 RM 0 05 Resistor Bar 100K RM 1 00 1 RM 1 Ceramic Capacitor 0 1uF RM 0 15 3 RM 0 45 Electrolytic Capacitor 25V 47uF RM 0 3 2 RM 0 6 Electrolytic Capacitor 6V 100uF RM 0 2 3 RM 0 6 Terminal Block KAR301 2 Way RM 0 7 3 RM 2 1 Terminal Block KAR301 3 Way RM 1 2 RM 2 Push Button 6mm RM 0 5 1 RM 0 5 Straight Pin Header Male 1x40 Ways RM 0 6 1 RM 0 6 Jumper Shunt RM 0 3 1 RM 0 3 Subtotal RM 40 05 60 Table 6 5 shows that estimated cost used for the electronics components This includes the three main modules used in the project Lastly table 6 6 shows the total cost used for the project by adding the estimated cost of the mechanical parts and electronics components together Table 6 5 Cost Estimation for the Electronics Components Item Cost per unit unit Price Arduino Starter Kit Student Edition RM 80 1 RM 80 Adafruit Ultimate GPS Logger Shield RM 190 1 RM 190 Motor Driver Module RM 40 05 1 RM 40 05 Printed Circuit Board RM 4 1 RM 4 Subtotal RM 314 05 Table 6 6 Total Cost for the Whole Project Subtotal Mechanical Part RM 205 1 Electronics Componen
2. 3 2 Project Overview 3 2 1 Main Steps 3 2 2 Project Problem Solution viii 6 20 12 13 13 14 16 17 18 20 21 44 21 22 22 24 3 3 Mechanical Design 3 3 1 Body Structure 3 3 2 DC Motors 3 3 3 Tamiya Twin Motor Gearbox 3 4 Electronics and Circuit Design 3 4 1 Arduino UNO 3 4 GPS Module 3 4 3 Motor Driver Module 3 5 Software Design Programming 3 6 Summary of the Chapter RESULTS AND DISCUSSION 4 Introduction 4 2 Final Design 4 3 Robot Movement 4 4 Reading GPS Data 4 5 Final Result 4 6 Discussion 1X 25 25 27 29 30 31 35 38 41 44 45 51 45 45 47 48 49 50 5 CONCLUSION AND RECOMMENDATIONS 52 54 5 1 Conclusion 52 5 2 Recommendations 53 5 2 1 Rechargeable Batteries 53 5 2 2 Avoidance System 53 5 2 3 Compass 54 6 PROJECT MANAGEMENT 55 60 6 1 Introduction 55 6 2 Project Schedule 56 6 3 Cost Estimation 57 REFERENCES 61 62 Appendices A D 63 80 TABLE NO 3 1 32 3 3 6 1 6 2 6 3 6 4 6 5 6 6 LIST OF TABLES TITLE Arduino Uno R3 Board RMC Sentence Types of Fix Quality Project Gantt Chart Semester One Project Gantt Chart Semester Two Cost Estimation for the Mechanical Parts Cost of the Individual Components for the Motor Driver Module Cost Estimation for the Electronics Components Total Cost for the Whole Project xi PAGE 33 36 37 37 56 94 58 59
3. 14 15 16 17 18 19 20 62 Lim Sy Ai 2013 People tracking system using global positioning system and global system for mobile communication Bachelor of Engineering UTM Universiti Teknologi Malaysia Skudai Chiculita C amp Frangu L Using the GPS for the Command of the Mobile Robots Velagic J Osmic N Hodzic F amp Siljak H 2011 Outdoor navigation of a mobile robot using GPS and GPRS communication system ELMAR 2011 Proceedings 14 16 Sept 2011 173 177 Mohd Solehin Shamsudin 2007 Multi directional mecanum robot UTM Bachelor of Engineering Universiti Teknologi Malaysia Skudai Mabuchi Motors Metal brush motors FA 130RA datasheet Mabuchi Motor Co LTD User Manual Cytron Technologies 2009 Tamiya Twin Motor Gearbox Cytron Technologies Sdn Bhd User Manual From Page arduino cc Edited by 2013 Retrieved on 17 12 2013 Title How an Atomic Clock Works Link http arduino cc en Main arduinoBoardUno Ladyada 2014 Adafruit Ultimate GPS Logger Shield Adafruit Industries Retrieved on 6 3 2014 Link http learn adafruit com adafruit ultimate gps logger shield Ladyada 2014 Adafruit Motor Shield Adafruit Industries Retrieved on 28 3 2014 Link http learn adafruit com adafruit motor shield Chris Veness From Page Movable Type Scripts Edited by 2002 Retrieved on 20 3 2014 Title Calculate Distance Bearing and More Between Latitude L
4. 2 5 4 Pioneer 3DX Mobile Platform Using GPS GPRS Communication In 2011 Velagic et al 12 made a paper about a navigation system using a combination of GPS and GPRS communication where the GPS connected the robot with the satellites and the GPRS connected the robot with a server The server was a Personal Computer PC connected to the internet as shown in figure 2 12 To avoid 19 obstacles a multiple algorithms including Fuzzy control were proposed to ensure the safety of the path Figure 2 12 The Structure of Pioneer 3DX Mobile Robot Pioneer 3DX mobile platform was used connected with the PC by a RS232 communication standard and the GPS GPRS module was built using Cinterion XT65 platform The connection between the PC and the robot is bi directional connection The robot sends the information it got by the GPS communication to the PC and the PC analysis the data and gives command to the robot whether to start moving to stop moving or to turn The portable PC is also used in avoiding obstacles There are three ways to avoid obstacles The first one is manual control from the PC keyboard The second way is avoiding front algorithm for simple obstacles and the last way is using fuzzy control based algorithm for difficult obstacles In this project they used MATLAB to program and communicate with the robot 20 2 6 Summary of the Chapter The chapter gave more knowledge about GPS NMEA protocol and waypoints It also disc
5. else TIMSKO amp BV OCIEOA usingInterrupt false uint32_t timer millis int 1 double f double f_2 void loopQ if usingInterrupt char c GPS read if GPSECHO if c Serial print c if GPS newNMEAreceived I if IGPS parse GPS lastNMEA return 65 if timer gt millis timer millis if millis timer gt 2000 I timer millis reset the timer double x GPS latitude double y GPS longitude 1 x 100 f x 1 100 100 f 2 100 60 1 2 1 100 f y 1 100 100 f 2 f 100 60 2 Serial printIn Serial print nTime Serial print GPS hour DEC Serial print Serial print GPS minute DEC Serial print Serial print GPS seconds DEC Serial print Serial printIn GPS milliseconds Serial print Date Serial print GPS day DEC Serial print Serial print GPS month DEC Serial print 20 Serial println GPS year DEC Serial print Fix Serial printIn int GPS fix if GPS fix Serial print Angle Serial printIn GPS angle Serial printin Serial println Location Serial print GPS latitude 4 Serial print GPS lat Serial print Serial print GPS longitude 4 Serial println GPS lon 66 Serial println Location in decimal Serial print x 4 Serial print GPS lat Serial print Serial print y 4 Se
6. 60 60 FIGURE NO 2 1 2 2 2 3 2 4 2 5 2 6 2 7 2 8 2 0 2 10 2 11 2 12 3 1 3 2 3 3 LIST OF FIGURES TITLE GPS Segments Space Segment Intersection of Three Satellites Multipath and Atmospheric Interference List of Types of GPS Sentences Route Mobile Hexapedal Robot The Path for the Hexapedal Robot on Google Earth Hwan Seok s Autonomous Mobile Robot Using GPS Hamid s Mobile Robot Structure Flowchart for Hamid s Mobile Robot The Structure of Pioneer 3DX Mobile Robot The Sections of the Chapter 3 The Flowchart for the Whole Project The Control Block Diagram xii PAGE 10 12 13 14 15 17 18 19 21 23 24 34 3 5 3 6 3 7 3 8 3 9 3 10 3 11 3 12 3 13 3 14 3 15 3 16 3 17 3 18 3 19 3 20 3 21 3 22 Isometric View of the Robot Side View of the Robot Top View of the Robot Front View of the Robot Tamiya 9801112M Mabuchi FA 130 Dimensions of Tamiya 9801112M Mabuchi FA 130 Tamiya 70097 Twin Motor Gearbox The Main Electronics Components Arduino Uno R3 Board Arduino UNO Pinout Reference Arduino Software Interface Adafruit Ultimate GPS Logger Shield GPS Shield Placed on Arduino UNO Raw NMEA Sentences L293D Motor Driver IC L293D Connection Diagram 74 595 Shift Register Motor Driver Shield Flowchart 26 26 27 27 28 29 30 3l 32 33 34 35 35 36 39 39
7. Serial print Longitude Serial printin way x h 6 Serial print latitude Serial printIn way y h 6 Serial printIn digital Write led HIGH digital Write led HIGH delay 500 digitalWrite led LOW digitalWrite led g LOW delay 500 i if i gt 4 lon current GPS longitude lat_current GPS latitude 76 77 b lon_current 100 f lon current b 100 100 f 2 f 100 60 lon current b f 2 b lat current 100 f lat current b 100 100 f 2 f 100 60 lat current b f 2 dy radians way_y n lat current lat current radians lat current way y n radians way y n dx radians way x n lon current 8 tol radians s tol distancel sin dy 2 0 sin dy 2 0 distance0 cos lat current distance0 cos way y 0 distance0 sin dx 2 0 distance0 sin dx 2 0 distance 1 distance0 distance 1 2 atan2 sqrt distance1 sqrt 1 0 distance1 distance 1 637 1000 0 Converting to meters Serial printIn Serial printIn Serial printIn Serial print distance Serial printIn n Serial println distancel print the distance in meters Serial printIn lon_current radians lon_current way x n radians way_x n radians duh heading atan2 sin way_x n lon_current cos way_y n cos lat_current sin way_y
8. location The margin of error is about 1 5 meter 5 CONCLUSION AND RECOMMENDATIONS 5 1 Conclusion The objectives in this project were successfully fulfilled First objective is achieved by using code in appendix B The robot is able to obtain the coordinates of its current location from the satellite signals The second objective is barely achieved since it required a lot of testing and calibration However the position faced an accuracy error of 1 5 meter because of the limitation put on the GPS for civilian users However the robot is able to move mostly as desired Three module were combined together to build the basic parts of the mobile robot Though the objectives were achieved many challenges were faced during the process Most of the challenges were about the batteries and the code The batteries were changed several times The program also was changed several time as well as the flowchart but at the end the autonomous mobile robot is able to navigate itself from any location to a desired location As conclusion GPS is an advanced sensor that can be used for several things and it is becoming more and more popular recently 53 5 2 Recommendations For future development many improvements can be done to improve the functionality and efficiency of the mobile robot More complex algorithm and feature can be added and designed such as 5 2 1 Rechargeable Batteries Two batteries were used in the proje
9. n sin lat_current cos way_y n cos way_x n lon_current 2 3 1415926535 78 heading heading 180 3 1415926535 convert from radians to degrees int header heading make it a integer now if header O heading 360 the heading is negative then add 360 to make it positive Serial println Serial printIn heading Serial printIn heading print the heading Serial println Serial println Serial println Serial println head heading head p head p heading if head gt 0 turn right motor fright run RELEASE motor fleft run FORWARD motor bright run RELEASE motor bleft run FORWARD x head 50 delay x Move Forward motor frightrun FORWARD motor fleft run FORWARD motor bright run FORWARD motor bleft run FORWARD y distancel 4000 delay y else if head lt 0 turn left motor fright run FORW ARD motor fleft run RELEASE motor bright un FORW ARD motor bleft run RELEASE head 0 head x head 50 delay x Move Forward motor fright run FORWARD motor fleft run FORWARD motor bright run FORWARD motor bleft run FORWARD y distancel 4000 delay y else if head 0 Move Forward motor fright run FORWARD motor fleft run FORWARD motor bright run FORWARD motor bleft run FORWARD y distancel 4000 delay y for int e 0 lt 4 digitalWrite led_g HIGH dela
10. outputs are connected to DC motor However two L293Ds were used since the mobile robot is a four wheeled robot Figure 3 19 shows the connection between L293D and motors 39 mis Must also be connected to MCUs GND Figure 3 19 L293D Connection Diagram Two L293D 74HC595N Led resistor capacitors and other items were placed together on a Printed Circuit Board PCB to make a complete shield to control the motor Two L293D were placed on the both sides of the shield while 74HC595N was placed in the middle 74HC595 shown in figure 3 20 is a shift register which has 16 pins It is an 8 bit serial to parallel latch It can control 8 outputs with few pins of the Arduino Therefore the digital pin 4 7 8 and 12 which are used to control the four DC motors are connected through 74HC595N chip 18 Figure 3 21 show the whole motor driver shield where the red arrow indicates the L293D and the yellow arrow indicates the 74HC595N Appendix A shows the schematics and layout of the motor driver shield 2 stepper 74HC595 Figure 3 20 74HC595 Shift Register LJ E 2 servos a dc motor 273 5 4 aa 54 e 7 000000 000000 Figure 3 21 Motor Driver Shield 693092411 jntrol 0Q000 5 r arduino 000000 56 40 41 3 5 Software Design Software design is the most important and critical part of the project In this section the components are programmed and tested until they
11. the controller could be improved to get a better result and would be more efficient Despite of these disadvantages the project succeeded to match its goal which was using GPS module basic trigonometry and a linear control system to navigate a hexapodal robot from its location through some waypoint until it reaches the desired location 16 2 5 2 Autonomous Mobile Robot Using GPS In 2005 Hwan Seok et al 4 designed a robot as shown in figure 2 9 This robot is comprised of a GPS receiver RF communication device and a photo sensor The GPS receiver was used to determine the location and moves the robot toward the correct position The movement was monitored by a wireless RF communication module while the photo sensor is used to avoid obstacles Figure 2 9 Hwan Seok s Autonomous Mobile Robot Using GPS The robot was consisted of 4 parts First part contains the GPS module which receives the satellites signal and determines the position They used a GPcorel200 12 channel modules The output signal from the receiver is RS 232 signal which by the help of converting circuit can be converted to TTL signal Second part is the Central Processing Unit CPU which compares between the locations to determine the shortest distance Third part contains a RF communication device which is comprised of a transmitter and receiver It is used is to monitor the actual mobile traces Last part is the photo sensor which senses the obstacles in
12. the date time position latitude longitude and attitude speed and other information 11 SGPBOD Bearing origin to destination SGPBWC Bearing and distance to waypoint great circle SGPGGA Global Positioning System Fix Data SGPGLL Geographic position latitude longitude SGPGSA GPS DOP and active satellites SGPGSV GPS Satellites in view SGPHDT Heading True SGPROO List of waypoints in currently active route SGPRMA Recommended minimum specific Loran C data SGPRMB Recommended minimum navigation info SGPRMC Recommended minimum specific GPS Transit data SGPRTE Routes SGPTRF Transit Fix Data SGPSTN Multiple Data ID SGPVBW Dual Ground Water Speed SGPVTG Track made good and ground speed SGPWPL Waypoint location SGPXTE Cross track error measured SGPZDA Date amp Time Figure 2 5 List of Types of GPS Sentences 13 2 4 Waypoints A waypoint sometime called landmark is a location based on the geographic coordinate latitude longitude stored in the memory of the receiver Once it is saved in the memory it only can be edited or deleted by the user It is created by either saving the location or manually entering the coordinates in the receiver 7 A sequence of waypoint is known as a route as shown in figure 2 6 During navigation the robot or GPS receiver will move through the path which is a sequence of waypoint When reaching a waypoint the GPS receiver will automatically navigate to the next waypoint in the lis
13. uses ATmega8U2 which provides a faster transfer rate It integrates and connects between different electronic components in the mobile robot Figure 3 12 shows the Arduino Uno R3 used in this project Figure 3 12 Arduino Uno R3 Board As seen in figure 3 12 Arduino Uno R3 has 14 digital input output and 6 analog inputs as well as a USB connection a reset button and a power jack One advantage is its simplicity of being connected with a computer by using its USB cable Figure 3 13 show better picture about the pins in Arduino UNO Arduino can be supplied by 3 ways connecting to the computer using battery or using AC to DC adapter Table 3 1 shows summary about Arduino UNO R3 specifications 16 Analog Reference Pin External Power Supply 3 3 Volt Power Pin 23 Digital Ground Digital 1 0 Pins 2 13 Serial Out TX Serial In RX UN ARDUINO Reset Button In Circuit Serial Programmer ATmega328 Microcontroller Analog In Pins 0 5 5 Volt Power Pin Ground Pins Figure 3 13 Arduino UNO Pinout Reference Table 3 1 Arduino Uno R3 Specifications Microcontroller ATmega 328 Operating Voltage 5V Input Voltage Recommended 7 12V Input Voltage Limits 6 20V Digital I O Pins 14 6 provides PWM output Analog Input Pins 6 DC Current per I O Pins 40mA DC Current for 3 3V Pin 50mA Flash Memory 32KB ATmega 328 O 5KB used by bootloader SRAM 2KB ATmega 328 E
14. y i GPS latitude Convert GPS coordinates decimal degrees b way x 1 100 f way x 1 b 100 100 f 2 f 100 60 i b f_2 b way y 1 100 f way y 1 b 100 100 f 2 f 100 60 way y i b f_2 delay 1000 if i 0 digitalWrite led HIGH delay 500 digitalWrite led LOW delay 500 digitalWrite led r HIGH delay 500 digitalWrite led LOW delay 500 74 else if i 1 digitalWrite led HIGH digitalWrite led g HIGH delay 500 digitalWrite led LOW digitalWrite led g LOW delay 500 digitalWrite led HIGH digitalWrite led HIGH delay 500 digitalWrite led LOW digitalWrite led LOW delay 500 else if i 2 digitalWrite led_g HIGH delay 500 digitalWrite led_g LOW delay 500 digitalWrite led_g HIGH delay 500 digitalWrite led_g LOW delay 500 else if 1 3 digitalWrite led HIGH digitalWrite led LOW delay 500 digitalWrite led LOW digitalWrite led HIGH delay 500 digitalWrite led HIGH digitalWrite led g LOW delay 500 digitalWrite led LOW 75 digitalWrite led HIGH delay 500 digitalWrite led LOW digitalWrite led LOW delay 500 delay 5000 i if G 4 delay 6000 for int h20 h lt 5 h Serial printIn Serial printIn h 1 Serial printIn th Waypoint Location is
15. 04 3 36 3 22 0 96 0 GPRMC 172916 000 A 0133 2403 N 10338 9002 E 0 04 0 0C SGPVIG 0 00 7 M 0 04 N 0 08 K A 31 SGPGGA 172917 000 0133 2403 N 10338 9002 E 1 4 3 22 1C 5 3 02 17 13 04 3 36 3 22 0 96 0 GPRMC 172917 000 A 0133 2403 N 10338 9002 E 0 03 0 0C SGPVIG 0 00 T M 0 03 N 0 06 K A 38 4 V Autoscroll Nolineending w 9600 baud Figure 3 17 Raw NMEA Sentences Table 3 2 RMC Sentence The RMC Sentence Type of data Description GPRMC Message ID RMC protocol header 172914 000 GMT hhmmss sss A Status Code A for active and V for void invalid 0133 2402 Latitude ddmm mmmm 37 The RMC Sentence Type of data Description N N S Indicator N for North and S for South 10338 9001 Longitude dddmm mmmm E E W Indicator E for east and W for West 0 09 Ground Speed knots 0 00 Tracking Angle Degree 140414 Date ddmmyy 61 Checksum data XX data starts with Table 3 3 Types of Fix Quality Value Types 0 Invalid 1 GPS Fix SPS 2 DGPS Fix 2 PPS Fix 4 Real Time Kinematic 5 Float RTK 6 estimated dead reckoning 7 Manual input mode 8 Simulation mode 38 Three types of data are used in this project status code latitude and longitude Status code will indicate if the data receive is valid or not A represent for active while represents for void When the a
16. 40 40 42 xiii 41 42 43 44 4 5 4 6 4 7 4 8 4 9 Top View of the Actual Autonomous Mobile Robot Side View of the Actual Autonomous Mobile Robot Movement of the Mobile Robot Open Basketball Court Reading from GPS in the Serial Monitor Path of the Mobile Robot Mobile Robot in Action at Stating Point Mobile Robot in Action at First Point Mobile Robot in Action at Target 46 46 47 47 48 49 49 50 50 xiv GPS IR RFID DC PPS SPS SA DGPS NMEA INS GPRS PC USB AC LIPO GMT GPRMC ASCII XV LIST OF ABBREVIATION Global Positioning System Infrared Sensor Radio Frequency Identification Direct Current Precise Positioning Service Standard Positioning Service Selective Availability Real Time Differential GPS National Marine Electronics Association Inertial Navigation System General Packet Radio Service Personal Computer Universal Serial Bus Alternating Current Lithium Polymer Greenwich Mean Time Global Positioning Recommended Minimum Coordinates American Standard Code for Information Interchange mAH FTDI I O SRAM EEPROM LDR RTK LED Xc Xn Ye Yn KTC Li Ion xvi milli Ampere Hour Travel Time Signal Reception Time Signal Transmission Time Distance Speed of Light Printed Circuit Board Future Technology Devices International Input Output Static Ran
17. EPROM 1 ATmega 328 Clock Speed 16MHz 34 Arduino in general is widely used as a microcontroller because it is an open source and can be programmed easily Besides that it includes the needed device to support the microcontroller It also contains many and different types of open source libraries in the internet which could be used to help the researcher and Arduino users The Arduino Uno is programmed by using specific software called Arduino software shown in figure 3 14 Programming can be done easily using this software because it is using a standard programming language and there are many sample programs in its library since it is an open source 800 sketch jan01a Arduino 1 0 3 Upload Sketch jan01a 8 int ledPin 13 void setup pinMode ledPin OUTPUT void loop digitalWrite ledPin LOW Binary sketch size 872 bytes of a 32 256 byte maximum Arduino Uno on dev tty usbmodem1411 Figure 3 14 Arduino Software Interface 35 3 42 GPS Module Adafruit ultimate GPS logger shield shown in figure 3 15 was used as the GPS module for this project It has good accuracy with position accuracy of 1 8m and high sensitivity receiver 165 dB tracking It also has built in antenna and can track up to 22 satellites on 66 channels Its power usage is incredibly low since it can be powered it with 3 3 5VDC and it only needs 20mA during navigation This GPS shield function
18. PSZ 19 16 1 07 UNIVERSITI TEKNOLOGI MALAYSIA DECLARATION OF THESIS UNDERGRADUATE PROJECT REPORT AND COPYRIGHT Author s full name MOHAMMED AMEEN ABDULLAH AL MEKHLAFI Date of Birth 10 February 1990 Title Navigation of Mobile Robot Using Global Positioning System Academic Session 2013 2014 declare that this thesis is classified as CONFIDENTIAL Contains confidential information under the Official Secret Act 1972 RESTRICTED Contains restricted information as specified by the organization where research was done OPEN ACCESS agree that my thesis to be published as online open access full text acknowledged that Universiti Teknologi Malaysia reserves the right as follows 1 The thesis is the property of Universiti Teknologi Malaysia The Library of Universiti Teknologi Malaysia has the right to make copies for the purpose of research only The Library has the right to make copies of the thesis for academic exchange Certified by SIGNATURE SIGNATURE OF SUPERVISOR ZION ORES Dr Sophan Wahyudi bin Nawawi NEW IC NO PASSPORT NAME OF SUPERVISOR Date 22 JUNE 2014 Date 22 JUNE 2014 NOTES If the thesis is CONFIDENTAL or RESTRICTED please attach with the letter from the organization with period and reasons for confidentiality or restriction T hereby declare that I have read this thesis and in my our opinion this thesis is sufficient in terms
19. are short range sensors such as IR sensors and there are long range ones such as global positioning system GPS 2 Furthermore several methods are used for path planning such as GPS radar Radio Frequency Identification RFID line following navigation and etc For outdoors navigation GPS is considered as the most ideal navigation system regardless of weather conditions and day time 4 After the military coding has been removed the need of using GPS has increased as it can be used for several applications such as communication construction intelligent vehicles and airplanes Using GPS in outdoor localization in large environment became a popular solution since GPS has an amazing property in collecting information without adding special device such as sensors and reflectors 5 In addition robots can locate positions in 2D coordinate system latitude and longitude or 3D coordinate system latitude longitude and altitude This ability is very useful in avoiding complicated control of coordinate systems In outdoor navigation the position of the robot is determined by a combination of GPS and odometry which use the data from the motions to compute the distance This is done by collecting information of the movement from the robot s wheels and counting the rotation 3 This way is the same as how blindfolded people approximate their position by counting their steps By integrating a GPS into a robot the robot will be able to determin
20. ct One of them was a rechargeable LIPO battery that was used to power the motor driver module while the other type used to power the Arduino was a 6x AA Energizer battery which are not rechargeable This issue caused many problem and wrong movement However it is better to change the second type into 2x 3 7V 1100mAh Li Ion Battery which are rechargeable 5 2 22 Avoidance System Since the project was not designed to avoid obstacles no avoidance system was integrated in the robot However in industrial or daily life different obstacles will be found on the path Therefore a suitable avoidance system must be designed to be able to know anywhere with any fear that the robot may break or get damaged due to crashing with the surrounding obstacles Some of the recommended systems are using IR sensors or LDR light sensors 54 5 2 5 Compass One of the problems was that the robot will not turn exactly according to the angle For example the angle between the two locations is 45 degree but the robot will turn with a 40 degree Therefore a compass can be used to achieve more accurate orientation CHAPTER 6 PROJECT MANAGEMENT 6 1 Introduction In order to achieve the project objectives within a specified period an effective project plan needs to be done This plan should be organized carefully There are many things that restricted the project such as research scope time budget and the availability of the resources Gantt chart i
21. der the motor driver module Two LEDs that are placed on the PSC board will blink when 46 receiving the latitude and longitude While figure 4 2 shows the side view of the mobile robot Figure 4 1 Top View of the Actual Autonomous Mobile Robot Figure 4 2 Side View of the Actual Autonomous Mobile Robot 47 4 3 Robot Movement The autonomous mobile robot has been design to move forward move backward and turn right and left with two different speeds Figure 4 3 illustrates the movement of the mobile robot The two gearbox should make the same move together so the robot will move otherwise the robot will be shaking and may cause the gear to break because it receive power and orders from the motor drive and cannot translate it into motion Figure 4 4 shows a sample open basketball court that is similar to the field used for the project Move Forward Turn Right with Turn Left with Low Speed Low Speed Move Backward Turn Right with Turn Left with High Speed High Speed Figure 4 3 Movement of the Mobile Robot Figure 4 4 Open Basketball Court 48 4 4 Reading GPS Data As mentioned earlier Arduino Uno is able to extract different information from the GPS After the GPS module is connected to Arduino where pin 9 is connected RX of the GPS module and pin 10 is connected to TX the code in appendix B is uploaded to get the needed data provided by GPRMC sentence Figure 4 5 shows the output of reading from t
22. dom Access Memory Electrically Erasable Programmable Read Only Memory Light Dependent Resistor Real Time Kinematic Light Emitting Diode Longitude of the Current Location Longitude of the Next Location Latitude of the Current Location Latitude of the Next Location Kolej Tuanku Canselor in UTM Lithium Ion Battery APPENDIX A B LIST OF APPENDICES TITLE Motor Driver Shield Schematics The Code to Read the Data from GPS The Code to Finding the Distance and Angle The Code of the Whole Project xvii PAGE 63 64 68 71 1 INTRODUCTION 1 1 Introduction This chapter discusses about the project background the objective the scope the problem statement and the organization of thesis The background provides the important information for the project The objective shows the expected result while the scope of the project mentions the limitations boundaries and specifications of the project The problem statement of the project describes the issue of the conducting the project Finally the organization of thesis gives the basic ides of every chapter in this thesis 1 22 Background of the Project The need of using robots in industries and companies has increased recently A robot is an intelligent agent that performs tasks with or without help Robots appear in different types in daily life depending on their tasks and they are used for many purposes starting from simple purpose such as house
23. e its own position and move in a path toward its goal However GPS is not suitable for indoor navigation because the walls will block the satellite signals 1 3 Objectives The objectives of this project are 1 To get the current location coordinates of the mobile robot from the satellites ii To design an autonomous mobile robot that can navigate itself from its own position to a specific position using GPS 1 4 Project Scope Full strength of the satellites signals is needed for the GPS to provide an accurate coordinates Due to the fact that satellites signals cannot penetrate walls buildings and trees the mobile robot should move in an open area such as an open basketball court Another advantage of this place is that it is plane surface and does not have many obstacles The robot used in this project will be a four wheeled mobile robot with the following limitations and specifications 1 It is an outdoor autonomous mobile robot so it cannot move inside buildings since the satellites signals cannot penetrate the walls Mobile robot should always head west when starting The robot is not programmed to avoid obstacles 1 5 Problem Statement Many researches gave ideas and methods for navigating a mobile robot from one position to another They used different types of control and systems As the complexity the robot increases the cost will increase as well The mobile robot will be focusing on outdoors navigatio
24. ee important segments 8 as shown in figure 2 1 and these are as followed SPACE SEGMENT js NE T 5 AN an CONTROL SEGMENT USER SEGMENT Figure 2 1 GPS Segments i Space satellite segment As shown in figure 2 2 the space segment consists of 24 satellites which orbit around the earth twice a day one complete cycle every 12 hours There are 6 different orbital planes with 4 satellites on each orbital and each satellite has a number of atomic clocks to maintain the time accuracy 2 x Figure 2 2 Space Segment ii Control segment It consists of the control and monitor stations There are five control stations around the world four unmanned monitoring stations and one master control station They monitor the satellites by tracking them and the master one corrects the time and orbital information if any error occurred such as satellites and atomic errors and orbit errors iii User segment It consist of the user whether they were civilian or militant and their GPS receiver The number of GPS holders can be limitless In order to determine any position in 3D at least four satellites are needed to be seen be the GPS receiver Three satellites are used to locate the position and one to correct the time on the receiver This is done by sending a signal to the first satellite that contains the satellite s location and the signal s time of departure The receiver then multiplies the si
25. egin 9600 GPS sendCommand PMTK SET NMEA OUTPUT RMCONLY GPS sendCommand PMTK SET NMEA UPDATE 1HZ 1 Hz update rate GPS sendCommand PGCMD ANTENNA uselnterrupt true motor fright setSpeed 200 motor fleft setSpeed 200 motor bright setSpeed 200 motor bleft setSpeed 200 delay 1000 pinMode led OUTPUT pinMode led OUTPUT Interrupt SIGNAL TIMERO COMPA vect char c GPS read ifdef UDRO if GPSECHO if c UDRO 2c endif void useInterrupt boolean v if v I OCROA OxAF TIMSKO l BV OCIE0A usingInterrupt true else TIMSKO amp usingInterrupt false uint32_t timer millis 12 void loopQ int b float f f 2 float way x 6 float way y 6 float distance0 0 float distancel float lon current lat current float dy 0 float dx 0 float s tol 0 00001 float pyth heading head if usingInterrupt char c GPS read if GPSECHO if c Serial print c if GPS newNMEAreceived if GPS parse GPS lastNMEA return if timer gt millis timer millis if millis timer gt 2000 timer millis if GPS fix For Waypoints 73 if i 4 for int 0 lt 4 digitalWrite led HIGH digitalWrite led g LOW delay 200 digitalWrite led_g LOW digitalWrite led LOW delay 200 way x i GPS longitude way
26. ew Figure 3 4 Isometric View of the Robot Figure 3 5 Side View of the Robot 27 Figure 3 6 Top View of the Robot Figure 3 7 Front View of the Robot 3 3 2 DC Motors There are different types of DC motors such as Brushed DC motors Brushless DC motors servo motors ball bearing motors permanent magnet stators 28 and others DC motor converts the direct voltage or current into a movement usually a rotational movement DC can be connected directly to a power source such as battery and any other power supply It needs only two wires to control the direction of its movement DC motors are bi directional motor they can move either forward or backward This is done by reversing the polarity of the supply or source Usually DC motor required a voltage between 6V and 12V and a current rating between lAmp and 3Amp 13 The speed of the motor is controlled by varying the voltage more voltage will produce more speed Tamiya 9801112M Mabuchi FA 130 motor 14 is used for this project as shown in figure 3 8 It is a brushed DC motor which has a high output permanent magnet and flat housing It requires a voltage rating between 1 5V and 3V to start moving At no load its speed is 9100rpm with 1 5V voltage and 200mA current At stall its torque is 26g cm and it will draw a current of 2 2A while at maximum efficiency the torque is 6g cm with a current of 660mA and speed of 6990rpm Figure 3 9 shows the dimensions o
27. f Mabuchi FA 130 Figure 3 8 Tamiya 9801112M Mabuchi FA 130 29 DIRECTION OF ROTATION MENS S Figure 3 9 Dimensions of Tamiya 9801112M Mabuchi FA 130 3 3 3 Tamiya Twin Motor Gearbox DC motors cannot be connected directly to the wheels because of the difference in motors shaft and the holes of the wheel Therefore a special design is needed to connect between the wheel and the DC motor s shaft The Tamiya 70097 twin motor gearbox kit was used for moving the motor It is consists of two Tamiya 9801112M Mabuchi FA 130 motors and a gearing system The plastic gearbox also provides a casing for the DC motors as shown in figure 3 10 The gearbox has 3 types of configuration type A B and C The configuration of the gears determines its speed and torque Different types of configuration lead to different speed and torque Type A and B have a low torque but high speed with a gear ratio of 58 1 On the other hand Type C has higher torque but less speed with a gear ratio of 203 1 15 Type C is selected in this project since it provides more torque and allows the two wheels to move separately 30 Figure 3 10 Tamiya 70097 Twin Motor Gearbox Kit 3 4 Electronic Circuit Design In this section the electronic components of the mobile robot are described It is about how the different components used in the project were connected to be able to achieve the objecti
28. front of the robot 17 The advantage of this robot is that it is a low cost robot with a stable navigation device However there are some parts that need improvement to get better results such as using different avoidance system because photo sensors cannot avoid small obstacles or those in black color Another way to improve the project is to use a hybrid system such as GPS INS system to minimize the GPS error 2 5 3 Avoiding Obstacles Using Commanded Loop Daisy Chaining Method Hamid et al 2009 2 did a research on combining GPS with sonar sensors for a mobile robot shown is figure 2 10 The GPS determines the location while the LV MAX sonar sensor is the system used to avoid obstacles during the navigation process The sensors cause some crosstalk between them and this crosstalk will create invalid data To overcome this the triggering the sensor one at time by using commanded loop daisy chaining application method The robot will navigate itself and avoid obstacles at the same time Figure 2 11 show the flowchart for the system The main problem in this project was the avoidance sensor so it was advised to a better obstacle avoidance system with a higher accuracy Figure 2 10 Hamid s Mobile Robot Structure 18 Acquire current location and Comparison waypoint wp and heading Check obstacles Check obstacles Check obstacles Figure 2 11 Flowchart for Hamid s Mobile Robot
29. function as desired Arduino will be programmed using its own program interface to read the data from GPS and send order movement to the motor driver Before proceeding with the code the flowchart should be designed first This helps in having a better and clear view of the flow of the programming and also keeps tracking the robot s behavior Figure 3 22 illustrates the flowchart of the mobile robot In figure 3 22 the programming starts by reading from the GPS If the data is available it will get the coordinates of the current location Comparison between the current location and next location is done by computing the distance and angle By knowing these two variables the robot will move to the next location Then the same concept is repeated until it reaches the end Appendix B shows the sample code used to get the data the needed data including the coordinates of the location from the GPRMC sentence However the latitude and longitude should be converted from ACSII form to another form known as decimal form This is done by extracting the degree value and dividing the rest by 60 After that the degree value is summed with the result of the division to get the decimal form Read NEMA sentence from GPS GPRMC sentence available Data status valid es Read Latitude amp Longitude data from GPRMC sentence Compute distance and angle using current location and next location Move toward the target Reac
30. gnal s travel time by the speed of light to calculate the distance between the satellite and the receiver 9 These are the equations that are used in the process Ti Ta Tu Eq 2 1 D txc Eq 2 2 Where is Travel time is signal reception time Ty is signal transmission time D is Distance c is the speed of light With one satellite the receiver will know that it is located at the circumference of a sphere where the satellite is its center and with a radius equals to the distance Same thing happens with the second and third satellite With two satellites the area will be narrowed to a circumference of a circle But with three satellites the area will be reduced to just one point 9 which is the similar to what is shown in figure 2 3 However the more satellite the receiver sees the better accuracy it provides GPS is not just used to determine any position on earth it can be used to do a plenty of application such as navigating from one location to another creating maps and determining the distance between two locations 7 Figure 2 3 Intersection of Three Satellites 10 However GPS is not a perfect system It has some errors and limitation that may cause wrong reading These errors are caused by the user or the surrounding environment such as 7 i Multipath inference This error occurs due to the reflection of the signal from other objects in the environment such as trees buildings vehicles and
31. he GPS module in the Serial Monitor It can be seen that the time date is the same as shown in the Windows on the most lower left corner The latitude and longitude are also shown in two forms The first form is the ACSII form which is provided directly from the GPS The other form is the decimal form which is converted from ACSII form by equations shown in chapter 3 The location shown is the output is located near KTC S47 outside my room Therefore the first objective is done completely where the robot was able to get its current location PGTOP 11 2 6E GPRMC 101320 000 A 0133 2492 N 10338 9016 E 0 32 343 74 070514 A 65 PGTOP 11 2 6E GPRMC 101321 000 A 0133 2494 N 10338 9015 E 0 01 343 74 070514 A 61 TT EEEE Time 10 13 21 0 Date 7 5 2014 Fix 1 Mijangle 343 74 Location 133 2494N 10338 9013E Location in decimal 1 5542N 103 6484 225222722222 5 6 0 11 2 6 GPRMC 101322 000 A 0133 2495 N 10338 9015 E 0 03 343 74 070514 A 61 PGTOP 11 2 6E GPRMC 101323 000 A 0133 2498 N 10338 9012 E 0 10 343 74 070514 A 68 No line ending w 115200 baud 6 13 PM 7 5 2014 MDG Figure 4 5 Reading from GPS in the Serial Monitor 49 4 5 Final Result After calibrating the project and doing several testing the final code shown in appendix D was designed and uploaded into the microcontroller Arduino UNO Figure 4 4 showed the field used for the projec
32. hed target Yes Figure 3 22 Flowchart 42 43 Appendix C shows the sample code used for finding the distance and angle between two locations The Haversine formula was used to find the distance or shortest path between two points 19 To find the angle a different method is used where the heading is found and then the previous heading in decimal is subtracted from the current heading in decimal to form the angle At the starting point the previous heading is set to be 270 since the mobile robot should head to the west when starting Firstly the difference between the latitude and longitude is calculated in term of radians dx radians x Xe Eq 3 1 dy radians Yn Yc Eq 3 2 Where Xc is longitude of the current location and x is longitude of the next location is latitude of the current location and y is latitude of the next location After that the latitude and longitude of the two locations are converted into radians and the following formulas known as Haversine formula in 19 are used Distance sin dy 2 cos ye cos yn sin dx 2 Eq 3 3 Heading atan 2 sin dx cos ys cos sin Yn sin Yn cos y cos dx 2 PI Eq 3 4 By knowing the distance and angle the robot will be able to move in the next location This is done by controlling the DC motors and some sample code were found in the internet 20 Appendix D shows the whole code for the mobile r
33. hold purpose to military and space purposes However the more advance the robot becomes the less needs for human control on robots 1 Autonomous mobile robot is an automatic machine that can move around in its environment and it is not fixed to one position This is the reason why mobile robots have been widely used for agricultural industrial and military purposes They can be used in different locations such as schools hospitals homes military camps and others The feature of autonomous makes the robot independent Therefore they do not need the human s help to move from one place to another One of the top advantages of autonomous mobile robots is that they can save time and lives and lower the possibility of injuries among humans 2 Navigation mobile robot is a mobile robot which can find its way from its current or pre defined location into a desired pre programmed location by monitoring and controlling its movements without the need of the user s help Therefore the main two tasks given to the mobile robot are to move around in its environment and to determine whether or not the final destination has been reached In order to do that the mobile robot should know its physical position and environment using its knowledge and the sensors information from its environment 3 These sensors give the robot the ability to know its path and gather information 1 Different sensors have different ranges and different functions There
34. i pemetaan atau sebagai sistem navigasi Navigasi dikenali sebagai cara untuk mencari jalan yang melalui persekitaran Untuk aktiviti navigasi luaran Sistem Kedudukan Global GPS adalah dianggap sebagai yang terbaik dan sistem navigasi yang paling sesuai yang boleh digunakan di dunia tanpa mengira masa dan keadaan cuaca Dalam projek ini GPS mudah alih disepadukan ke dalam robot bergerak sendiri untuk menjadikan ia dapat mengemudi jalan dari sudut yang telah ditetapkan untuk lokasi yang dikehendaki melalui titik laluan tertentu Penerima GPS akan menerima maklumat dari satelit tentang masa dan lokasi masa sebenar serta TABLE OF CONTENTS TITLE DECLARATION DEDICATION ACKNOWLEDGEMENT ABSTRACT ABSTRAK TABLE OF CONTENTS LIST OF TABLES LIST OF FIGURES LIST OF ABBREVIATION LIST OF APPENDICES INTRODUCTION 1 1 Introduction 1 2 Background 1 3 Objective 1 4 Scope 1 5 Problem statement 1 6 Organization of Thesis ii iii iv vi vii xi xii XV xvii 1 5 vii PAGE LITERATURE REVIEW 2 1 22 2 3 2 4 2 5 Introduction Global Positioning System GPS NMEA Protocol Waypoints Previous Projects 2 5 1 Mobile Hexapedal Robot 2 5 2 Autonomous Mobile Robot Using GPS 2 5 3 Avoiding Obstacles Using Commanded Loop Daisy Chaining Method 2 5 4 Pioneer 3DX Mobile Platform Using GPS GPRS Communication 2 6 Summary of the Chapter METHODOLOGY 3 1 Introduction
35. ing 180 3 1415926535 convert from radians to degrees int head heading make it a integer now if head lt 0 heading 360 hf the heading is negative then add 360 to make it positive Serial println Serial print heading from point Serial print n Serial print and point Serial print n 1 Serial printIn is Serial println heading print the heading Serial println angle heading hea hea heading Serial println Serial print angle between point Serial print n Serial print and point Serial print n 1 Serial printIn is Serial println angle print the heading Serial println Serial println E n if n gt 4 to stop after it finds the distance and angle bew tween last waypoint and target for int j 3 j gt 0 j 70 APPENDIX D The Code of the Whole Project include lt Adafruit GPS h include lt SoftwareSerial h gt include lt AFMotor h gt SoftwareSerial mySerial 10 9 Adafruit_GPS GPS amp mySerial define GPSECHO true boolean usingInterrupt false void useInterrupt boolean AF_DCMotor motor fright 1 MOTOR12_1KHZ AF_DCMotor motor_fleft 2 MOTOR12_1KHZ AF_DCMotor motor_bright 4 MOTOR12 1KHZ AF_DCMotor motor_bleft 3 MOTOR12_1KHZ int led_r 13 int led_g 2 int i 0 int n 0 int x int y float head_p 270 71 void setup Serial begin 115200 GPS b
36. me I am sure they will be there for me to support and guide me Last but not least I would like to express my appreciation to all my friends for their help encouragement and Dua a ABSTRACT GPS has been widely used in recent technology to determine any location on earth However it is not only used to determine location it can be used for different things such as creating maps or as a navigation system Navigation is known as the way to find a path through an environment For outdoors navigation Global Positioning System GPS is considered as the best and the most suitable navigation system which can be used on earth irrespective of time and weather conditions In this project a GPS mobile is integrated into an autonomous mobile robot in order to make it able to navigate its way from a predefined point to a desired location through certain waypoints The GPS receiver will receive information from satellite about the curernt location and time and send them into the microcontroller which is Arduino UNO The microcontroller will act as the brain of the project and determine the direction of the mobile robot and also will stop the mobile robot when reaching the desired location vi ABSTRAK GPS telah digunakan secara meluas dalam teknologi kebelakangan ini bagi menentukan sebarang lokasi di dunia Walau bagaimanapun ia bukan sahaja digunakan untuk menentukan lokasi malah boleh digunakan untuk perkara perkara yang berbeza sepert
37. n Therefore some navigation methods are not suitable for outdoors navigation Radar and Radio Frequency Identification RFID can be used but they have some problems since radar requires a large size processor and will be expensive while RFID does not seem practical because it only covers short distance In outdoor navigation a long range method is a need to cover the whole area One of these methods is global positioning system GPS which is suitable due to it long range simplicity and cheap price 1 6 Organization of Thesis This report basically consists of 6 chapters Chapter 1 gives a general idea of the project proposed It is divided into 4 parts background of the project objectives scope and problem statement Chapter 2 presents more information on GPS and literature review of some previous similar projects and It explains more details on GPS Protocol and waypoint Chapter 3 is about the methodology of in the project The system overall mechanical structure the components the techniques and the process done in this project are all mentioned in details Chapter 4 shows the results and outcomes of this project followed by the discussion based on the results of the project Chapter 5 covers the conclusion for the project in general and some recommendations are provided for future development Chapter 6 is about the project management which contains the project schedule the estimated cost of the individual components a
38. nd total cost of the whole project 2 LITERATURE REVIEW 2 1 Introduction A literature review of previous similar projects was conducted prior to the start of this project This chapter provides a plenty of information about GPS and gives some ideas on previous projects and attempts done by researches toward using GPS as a navigation method 2 2 Global Positioning System GPS The NAVSTAR global positioning system GPS is a satellite radio navigation system that is used to determine any position and provide time information irrespective of the weather anywhere on earth There are two services provided by GPS Precise Positioning Service PPS and Standard Positioning Service SPS The PPS is very accurate in determining the position and time but only available for authorized users such as military On the other hand SPS is available for all users but less accurate Selective availability SA is a feature used in SPS to reduce the accuracy of the GPS 6 Originally GPS was invented for military purposes by the by the Defense Department of US but during the 1980s the US government made this technology open for all civilian purpose but with a limitation in position accuracy Until May 2000 the Defense Department of US has removed the degradation integrated on civilian GPS So the selective availability SA is not used recently however it can be reactivated without noticing the users 7 GPS consists of thr
39. o parts where the first part is about the steps needed to be done and the second one is the idea of the problem solution used in the project to achieve the objectives 3 2 The Main Steps This project is divided into two parts hardware and software design The flowchart in figure 3 2 shows the process for the whole project The process started by searching and finding a solution for the problem statement That was done by reading and being well acquainted with previous projects and studies related to the same problem statement This has been explained briefly in chapter 2 Using the information and knowledge gained from the literature review the mechanical structure is determined as well as the electronic circuit design This includes the components used and the connections between the input which is GPS signal obtained from the GPS module and the output which is the movement of the mobile robot Finally the last stage was the programming and testing which is the most important part This part required a lot of testing and calibration until the robot was able to function as desired 23 er h Literature Review Mechanical Design Programming amp Construction Software Structure Choose a the main board Satisfied 11 Components Programmed Choose the components used Satisfied Troubleshooting amp Testing Is it working Software Problem Fini
40. obot 44 3 6 Summary of the Chapter This chapter discusses briefly the mobile robot in terms of its hardware components and electronic design It is a two layer mobile robot which uses four DC motor for movement It consists of three modules Arduino UNO is used as microcontrollers and connects the whole system together GPS module will get the coordinates from the satellites and send it to the microcontroller Motor driver module connects between the microcontroller and DC motors It receives orders from the microcontroller and control the motor based on the orders In order to make the robot moves as desired all the hardware and software must be carefully selected designed integrated and tested 4 RESULTS AND DISCUSSION 4 1 Introduction In this chapter the results and outcomes of the project are discussed The results include the final design robot movement reading data from the GPS final result and the effectiveness of the robot 42 Final Design After connect the electronic components together and also integrating the whole body with Tamiya DC motor the autonomous mobile robot was built as shown in figure 4 1 and figure 4 2 Figure 4 1 shows the top view where the red arrow indicates the GPS module placed on a PCB and the yellow arrow indicates the motor driver module The GPS module is placed on the top so the satellite signals will not be block by any equipment The Arduino UNO is placed directly un
41. of scope and quality for the award of the degree of Bachelor of Engineering Electrical Mechatronics Signature Name of Supervisor Dr Sophan Wahyudi bin Nawawi Date ER NAVIGATION OF MOBILE ROBOT USING GLOBAL POSITIONING SYSTEM MOHAMMED AMEEN ABDULLAH AL MEKHLAFI A thesis submitted in fulfilment of the requirements for the award of the degree of Bachelor of Engineering Electrical Mechatronics Faculty of Electrical Engineering Universiti Teknologi Malaysia JUNE 2014 ii I declare that this thesis entitled Navigation of Mobile Robot Using Global Positioning System is the result of my own research except as cited in the references The thesis has not been accepted for any degree and is not concurrently submitted in candidature of any other degree Signature ES FN Name MOHAMMED AMEEN ABDULLAH AL MEKHLAFI Date 22 June 2014 Specially dedicated to my parents and my family iii iv ACKNOWLEDGEMENT In the name of Allah the Beneficent the Merciful First I would like to take this opportunity to thanks Allah the Almighty on whom we depend for guidance and help Then I would like to express my deepest gratitude to my advisor Dr Sophan Wahyudi bin Nawawi for his support help and patience His suggestions and contribution helped me all the way until the project was finished I am forever indebted to my family who always supports me morally and financially Whatever happens to
42. on The cost of the project is dividing into two parts cost for mechanical design and cost for electrical components Table 6 3 shows the estimated cost for mechanical parts For electronics component the cost will be in detail for the motor driver module in table 6 4 and table 6 5 will illustrate the cost for the whole electronics design The most expensive component is the GPS module Adafruit ultimate GPS logger shield However the total estimated cost for the whole project is shown in table 6 6 58 Table 6 3 Cost Estimation for the Mechanical Parts Item Cost per unit unit Price Acrylic Sheet A4 5mm RM 15 1 RM 15 Tamiya Twin Motor Gearbox RM 44 2 RM 88 Tamiya Truck Tire Set RM 22 2 RM 44 LIPO Battery 7 4V 900mAH RM 29 1 RM 29 Energizer battery AA size RM3 6 RM 18 6xAA Battery Holder Compact RM 3 5 1 RM 3 5 PCB Stand 30mm screw amp screw RM 1 4 4 RM 5 6 Screw and nuts width 3mm RM 0 2 10 RM2 Subtotal RM 205 1 As seen in table 6 3 the most expensive part in the mechanical design was the Tamiya gearbox and its pair of tires They cost a total of RM 132 which is near to two thirds of the subtotal cost used for mechanical parts Table 6 4 shows the cost of the motor driver module This is done by the cost of each individual components used in the module Table 6 4 Cost of the Individual Components for the Motor Driver Module 39
43. ongitude Points Link http www movable type co uk scripts latlong html Patrick From Page Let s Make Robots Edited by 2010 Retrieved on 20 4 2014 Title Fundamentals of a GPS guided vehicle Link http letsmakerobots com node 19554 63 APPENDIX Motor Driver Shield Schematics Di MBRAL4O RES UIN SV 3 30 AREF 010 GNO 3011 BNO 012 GNO 013 ARDUINO GND Ports 1 1 1 i 1 i 1 1 1 i 1 1 1 1 1 1 i i i 1 1 GND GND SENSE amp SENSE B NC GND 16 uUF 25U GND 74HC1604 Pouer Input Driver TITLE sre Document Number gt Date Sheet 1 1 APPENDIX B The Code to Read the Data from GPS include lt Adafruit_GPS h gt include lt SoftwareSerial h gt SoftwareSerial mySerial 10 9 Adafruit_GPS GPS amp mySerial define GPSECHO true boolean usingInterrupt false void useInterrupt boolean void setup Serial begin 1 15200 GPS begin 9600 GPS sendCommand PMTK SET NMEA OUTPUT RMCONLY GPS sendCommand PMTK SET NMEA UPDATE 1H2 GPS sendCommand PGCMD ANTENNA useInterrupt true delay 1000 64 Interrupt SIGNAL TIMERO vect 1 char c GPS read ifdef UDRO if GPSECHO if c UDRO c endif void useInterrupt boolean v if v I OCROA OxAF TIMSKO BV OCIE0A usingInterrupt true
44. other objects as shown in figure 2 4 These signals are hard to avoid so the receiver receive them However this error can be solve be using Real Time Differential GPS DGPS which will be discussed lately Earth s atmosphere Electromagnetic Fields Figure 2 4 Multipath and Atmospheric Interference ii Atmospheric interference This interference usually affects the signal by causing it to become slower or faster This error can also be solved by using an advanced Real Time Differential GPS DGPS iii Receiver clock error Since the receiver cannot have an atomic clock which is very accurate and integrated in the satellites Therefore a slight positioning error 11 can occur in the receiver However as mentioned early this error is corrected by the monitor and control stations iv Orbital error Sometimes the satellite deviates from its normal path which will cause a small error in the received position However this error is also corrected by the monitor and control stations v User mistakes There are different types of user mistakes such as entering incorrect information or blocking the signal since the human s body can block signals These errors cannot be solved especially entering incorrect information Therefore the user should be careful when using GPS receiver Real Time Differential GPS DGPS is designed to reduce GPS errors It employs another stationary GPS receiver to minimize the e
45. ppears a LED light will keep blinking until the data in valid and the status is active Latitude and longitude or the necessary coordinates needed to determine positions on earth surface Latitude ranges from 0 to 90 degrees while longitude ranges from 0 to 180 degrees 3 43 Motor Driver Module DC motor cannot be directly connected to Arduino because they draw a high current One DC motor needs around 660mA while Arduino only provides 40mA for each I O pin Therefore Arduino board will face huge damage and will break down if a direct connection is made Usually a motor driver is used to connect Arduino or any microcontrollers with DC motors Motor drive receives the signal and orders from the Arduino and controls the motor based on those orders It has an external power supply which should be suitable and enough to drive the motors There are different medium that can be used as interface between motor and microcontrollers in general such as relays power MOSFET transistors and H Bridge drivers L293D and others L293D shown in figure 3 18 was chosen because it easy to use easy to be programmed and each chip can control two motors L293D is a quadruple half H bridge driver which has 16 pins and provides bi directional directional for both motor 13 The suffix D means that flyback diodes are built in to minimize inductive The chip has two inputs and two output to control one motor The inputs are connected to the Arduino while the
46. rial printIn GPS lon Serial printhn 3 RR ARIE RII Serial println Serial println 67 APPENDIX The Code to Finding the Distance and Angle void setup Serial begin 9600 int n 1 int float hea 270 void loopO float distance1 0 float distance0 0 float dy 0 float dx 0 float way y 1 553802 1 553740 1 553740 1 553705 1 553642 float way x 103 644500 103 644561 103 644630 103 644577 103 644615 float pyth float heading 0 float angle dy radians way_y n way_y n 1 way y n 1 radians way y n 1 way y n radians way y n dx radians way x n way x n 1 68 69 distancel sin dy 2 0 sin dy 2 0 distance0 cos way y n 1 distance0 cos way_y n distance0 sin dx 2 0 distance0 sin dx 2 0 distancel distance0 distance1 2 atan2 sqrt distancel1 sqrt 1 0 distance1 distance1 6371000 0 Converting to meters Serial print distance between point Serial print n 1 Serial print and point Serial print n Serial printIn is Serial println distancel print the distance in meters Serial println way x n 1 radians way x n 1 way x n radians way x n heading 2 5 x n way x n 1 cos way y n cos way y n 1 sin way y n sin way y n 1 cos way y n cos way x n way x n 1 2 3 1415926535 heading head
47. rrors caused by the multipath inference orbital errors and other errors This is done by placing a GPS receiver known as a reference station at a known location By comparing between the received signal and the actual signal from the reference station the difference between them is known as the differential correction By applying this differential correction into the receiver the errors will be removed and the accuracy will be improved 8 The best thing about GPS is that it can function under any weather for 24 hours a day with no fees and charges as long as it is placed in an open place 12 2 3 NMEA Protocol Protocol is set to allow the GPS receiver to connect and transmit data with the satellite One of these protocols is National Marine Electronics Association NMEA which is the most common protocol NMEA defines the interface between the different pieces of marine tools including GPS receiver It is an ASCII based protocol to transmit data and the transmitted line of data is called sentence which is independent from other sentences Each sentence start with a dollar sign followed by two letter known as the talker ID which is the prefix for GPS GP 10 Then it is followed by a three letter known as the message ID which is the type content of the sentence such as GGA GSA VTG DTM and other shown in figure 2 5 After this the sentence continues with the body which contain of various data The data contains of information about
48. s done to give a clear guideline in time management and to keep track of the flow of the process Cost estimation is performed to make sure that the objectives are fulfilled with the minimum cost In this process market survey was done by searching in the websites of the electronic supplier to find the suitable components The components prices are listed together in few tables to compute the final cost 56 6 2 Project Schedule Gantt chart for the first semester is shown in table 6 1 As seen in the table late beginning occurred before deciding a project due to the faculty s late assign of project supervisors Table 6 2 shows the project Gantt chart for semester two In contrast to semester one some delay happened in semester two especially in the electronics design and thesis writing A problem happened when buying GPS module online so the component came quite late which caused the whole process to be postponed Also the exhibition MIRCED 2014 was one week earlier Because of these issues the project was a little bit behind the schedule Despite all these problem the project successfully achieved its objectives Table 6 1 Project Gantt Chart Semester One 57 Table 6 2 Project Gantt Chart Semester Two roa sere isse 6 3 Cost Estimati
49. s greatly fit with Arduino UNO and is designed to able to save data into an SD card if needed 17 Figure 3 16 show the how the shield can fit on Arduino UNO However the GPS module should be placed on the top to avoid blocking the satellites signal Figure 3 15 Adafruit Ultimate GPS Logger Shield Figure 3 16 GPS Shield Placed on Arduino UNO 36 The GPS will transmit data to Arduino through serial output This data is shown in an ASCII based protocol known as NMEA which has been explained in chapter 2 Figure 3 17 shows the raw NMEA sentences which are received by the GPS module The most common NMEA sentences used in navigation are GPRMC and GPGGA sentences These two provides the time in GMT date latitude longitude altitude estimated speed and fix type 17 However GPRMC sentence can be used only in navigation since it provides a lot of information and most of the useful data in provided within this line A comma is used to separate between the data Table 3 2 and 3 3 shows the RMC sentence and the types of fix quality I GPRMC 172914 000 A 0133 2402 N 10338 9001 E 0 09 0 0C SGPVIG 0 00 T M 0 09 N 0 17 K A 32 GPGGA 172915 000 0133 2402 N 10338 9001 E 1 4 3 22 11 6 5 3 02 17 13 04 3 36 3 22 0 96 0 GPRMC 172915 000 A 0133 2402 N 10338 9001 E 0 06 0 0C SGPVIG 0 00 T M 0 06 N 0 12 K A 38 ISGPGGA 172916 000 0133 2403 N 10338 9002 E 1 4 3 22 1C 5 5 3 02 17 13
50. shing the Thesis Figure 3 2 The Flowchart for the Whole Project 24 3 2 2 Project Problem Solution First the entire path is divided into several waypoints with a different distance between them Figure 2 6 showed a simple illustration on the idea of the solution These waypoints are assigned before the mobile robot starts moving and saved in the memory of the Arduino After the GPS receives the current location from the satellite the received location is compared with the location of the first waypoint If they are the same the Arduino skips to the next waypoint in the list automatically If not the Arduino collects the distance between the locations and the angle Based on the distance and the angle it gives command to the robot to move toward the waypoint When reaching the waypoint the Arduino refresh its location and compare the new current location with the next waypoint This process will be repeated until the robot reaches the final desired location Figure 3 3 shows the simple block diagram where the controller is Arduino Uno and the mobile robot is the plant while GPS module provides feedbacks to correct the position of the robot Microcontroller Plant Input location gt Desired Location X Arduino Mobile Robot gt Figure 3 3 The Control Block Diagram 25 3 5 Mechanical Design For the mechanical design the work done to build the mobile robo
51. t A starting point a final point and three other points are chosen to be the point for the path planning of mobile robot Figure 4 6 shows the basic path of the robot when it moved from starting point to the final point target Figures 4 7 4 8 and 4 9 shows the mobile robot in action 103 644615 103 644531 e 1 553642 1 553642 103 644577 1 553705 103 644630 e 103 644561 1 553740 1 553740 103 644645 103 644485 1 553813 1 553813 Figure 4 6 Path of the Mobile Robot Figure 4 7 Mobile Robot in Action at Stating Point 50 Figure 4 8 Mobile Robot in Action at First Point Figure 4 9 Mobile Robot in Action at Target 4 6 Discussion At the beginning the location of the final destination and middle points should be saved before the mobile robot moves Two LEDs red LED and green one blinks when receiving the coordinates After that the robot is put in a random 51 location By comparing the current location with the next location the robot will know the distance and angle By knowing the distance and angle the mobile robot is able to navigate itself from the starting point through the path crossing the middle points toward the target location First the robot will turn left or right with a degree according to angle Then it will move forward according to the distance However due to the lack of accuracy in the Standard Positioning Service SPS the robot may not be able to cross or reach the exact
52. t The process is doing in every waypoint until the robot reaches the desired location Figure 2 6 Route 2 5 Pervious projects This section discusses some of the related works and projects done by other researcher toward GPS as navigation method 14 2 5 1 A Mobile Hexapedal Robot Dupree 1 from University of Pennsylvania made an autonomization of a RHex mobile robot using a GPS in the GRASP lab of the university where figure 2 7 shows a picture of the robot RHex is a six legged highly mobile robot which is more stable than three or four legged robots and has a great flexibility in its movement By integrating a GPS module into the robot the robot was given the ability to know its location and navigate itself to any pre programmed point by following a breadcrumb path of way points A Python code which is a general purpose and high level programming language is used to control the robot It was assumed that no obstacles will appear in the robot s path The path is shown in figure 2 8 Figure 2 7 Mobile Hexapedal Robot 15 Finally by using Python code to control the robot a great improvement was showed but there were some disadvantages of this method First the robot turn left or right quickly whether the angle is small or big A gain is needed to control the turning speed so that the turning speed will depend on the angle If the angle is big the turning will be fast and vice versa Another disadvantage is that
53. t passed through 3 stages manual sketching sketching using SolidWorks 2013 and the hardware design of the mobile robot The component used in the project should be considered during the mechanical design in order to avoid any problem that may appear later such as slow movement due to the weight of the robot 3 3 1 Body Structure The robot is a two layer robot Each layer is made from an acrylic sheet with the dimension of 170mm x 70mm x 5mm Acrylic sheet was used because it is easy to cut and drill it The mechanical design was done using the SolidWorks 2013 software as shown in figures 3 4 until figure 3 7 Below the base layer two gearboxes were placed at the front and back of the robot Each gearbox has two DC motor which are controlled separately In the middle layer two different types of batteries were placed 7 4V 900mAH LIPO battery placed at the front of the structure and 6x AA Energizer battery place at the back On the top of the second layer the electronic circuitry including the microcontroller and GPS module was placed Overall the robot structure consists of the following 1 Two layer of robot ii Two Tamiya gear boxes each gearbox has 2 x Tamiya motor 4 x Tamiya tires iv PCB Stands 26 As mentioned the figures below show the SolidWorks drawing of the mechanical design in four different views 1 Figure 3 4 Isometric view Figure 3 5 Side view iii Figure 3 6 Top view iv Figure 3 7 Front vi
54. ts RM 314 05 Total RM 519 15 1 2 3 4 5 6 7 8 9 61 REFERENCES Dupree P 2009 Autonomization of a mobile hexapedal robot using a GPS Hamid M A Adom A H Rahim A amp Rahiman 2009 Navigation of mobile robot using Global Positioning System GPS and obstacle avoidance system with commanded loop daisy chaining application method Signal Processing amp Its Applications 2009 CSPA 2009 5th International Colloquium on 6 8 March 2009 176 181 NurulAzrin A 2012 Autonomous Mobile Robot Navigation UTM Bachelor of Engineering Universiti Teknologi Malaysia Skudai Hwan Seok C Ok Deuk P amp Han Sil K 2005 Autonomous mobile robot using GPS Control and Automation 2005 ICCA 05 International Conference on 26 29 June 2005 858 862 Vol 852 Panzieri S Pascucci F amp Ulivi G 2002 An outdoor navigation system using GPS and inertial platform Mechatronics IEEE ASME Transactions on 7 2 134 142 US Government SEPTEMBER 1996 Navstar GPS User Equipment Introduction 1 1 9 NWCG 2007 Basic Land Navigation Global Positioning System 5 1 5 13 GARMIN 2000 GPS Guide for Beginners Bill Hammack From Page Engineer Guy Edited by 2012 Retrieved on 3 12 2013 Title How an Atomic Clock Works Link http www engineerguy com elements videos video atomic clock htm 10 11 12 13
55. ussed about methods and projects that has been done previously on the same topic From the literature review it can be noted that some features and methods can be used in this project The ability to follow a path of several waypoints and using Arduino Uno R3 will be used to control the robot in this project 3 METHODOLOGY 3 Introduction This chapter discusses the methods tools and components used to design an autonomous mobile robot As shown in figure 3 1 this chapter consists of 4 sections the project overview mechanical design electronic circuit design and programming The project overview gives a short description of the process that has been used in this project It is divided into two parts flowchart and project problem solution After that a detailed explanation is given in the mechanical design The mechanical design is also divided into two parts rigid body and the gearbox On the other hand the electronic circuit design provides information about the components used in fulfill the project Finally a suitable programming language is used to control the microcontroller Arduino which is considered to be the brain of the robot Electronic Circuitry Project Mechanical Overview Design Programming Design Figure 3 1 The Sections of the Chapter 3 22 3 2 Project Overview This section is a short description of the main ideas needed to complete the project This section divided into tw
56. ves The main components used are GPS module Arduino UNO and motor driver module as shown in figure 3 11 The fact that the components cannot perform the task individually so these components require a good understanding on their specifications and the capability of the Arduino UNO microcontroller must be considered at every step to achieve the objectives 31 Figure 3 11 The Main Electronics Components The process of the project starts when the GPS module receives the satellite signal which contains different information such as location coordinates Greenwich Mean Time GMT and other data The GPS transmitter and receiver are connected with Arduino UNO After the Arduino obtains the data from the GPS it will process the data and based on these data the Arduino will send the command to the motor drive module The motor drive module will control the DC motor according to the direction assigned into it 3 41 Arduino UNO In this project Arduino Uno R3 is used to be the microcontroller which is the brain for the whole project It gives commands to the operator It will receive the information given from the GPS receiver and compare the current location with the desired location and then gives the order to the mobile robot whether to start moving 32 stop or turn left or right Arduino Uno R3 is a microcontroller board based on the ATmega328 It is the latest version of the Arduino UNO board Instead of using the FTDI chip it
57. y 100 digitalWrite led_g LOW delay 100 n if n gt 3 motor fright run RELEASE motor fleft run RELEASE motor bright run RELEASE motor bleft run RELEASE for int e 0 lt 4 digitalWrite led r HIGH digitalWrite led g LOW delay 100 digitalWrite led LOW digitalWrite led HIGH delay 100 digitalWrite led LOW digitalWrite led g LOW delay 100 for int hz1 h gt 0 h 80

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