Autonomous-Robot-Navigation-and-Control

Table of Contents

• Description
• Overview
  • Tasks
  • System Description

Description

In this project, I build a wheeled robot and programmed it to navigate autonomously through a series of tasks, using Arduino, motors, encoders and distance sensors.
Take a look at my portfolio post for more information about the project.

Overview

Tasks

1. Navigating through a maze
2. Driving through changing-slope way, keeping constant roll
3. Following curved wall, keeping constant distance
4. Driving on slope with changing gradient, keeping constant speed
5. Locating and reaching the finish line flag

System Description

I used several components to control the robot motion:

1. Arduino
2. Motors & encoders:
   • PMW motor and encoder - One on each rear wheel to activate and control the motion
   • Servo motor - Located on the front of the vehicle and used to rotate the TOF sensor to desired scanning angle
   • Motor driver (SparkFun Ardumoto 50829)
3. Sensors
   • IR sensor - One on each side of the vehicle to measure side distance
   • Time of Flight sensor (Adafruit VL53L0X) - Assembled on the servo motor to scan the surrounding space
   • US (ultrasonik) sensor - Located on the top of the vehicle to measure distance from objects above the vehicle
   • IMU (MPU-9250) - 9-axis (gyro, accelerometer, compass) MEMS motion tracking device
4. Led matrix - Indicates mission number and mission success/fail

The system components:

Arduino pin usage:

The autonomous vehicle: