Group 19: GPS-Guided Autonomous Robot

The goal of Group 19’s engineering project is to create an autonomous robot to compete in the 2014 Sparkfun Autonomous Vehicle Competition. This challenge of this competition is to navigate around a set course and cross the finish line in five minutes. This means that the competition will challenge groups to create the most optimal program that can function better than others because even a few milliseconds of faster calculations can help avoid crashes and create better results.

Tuesday, May 6, 2014

Week 4-5 update

Week 4

Objectives

Acquire and display GPS receiver data via ROS
ROS implementation on RaspPi
Communication between ROS and Arduino
Vehicle moving to single, specified waypoint
Basic obstacle avoidance
Decide on a path planning algorithm to pursue

Accomplished

Acquired and displayed GPS receiver data via ROS
Communication between ROS and Arduino
Vehicle moving toward single, specified waypoint
Decide on a path planning algorithm
Flow chart of program

The Flow Chart and Logic System for the Robot

Current Code as of Now

Next Tasks

Add scaled steering so the amount the wheels turn is dependent upon how far off of the desired course the robot is
Calculations to determine heading and distance between current location and next waypoint
Basic state Control with 3 IR sensors

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