http://www.instructables.

com/id/Arduino-Powered-Autonomous-Vehicle/
Food Living Outside Play Technology Workshop
Arduino Powered Autonomous Vehicle
by CPARKTX on July 8, 2014
Table of Contents
Arduino Powered Autonomous Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Intro: Arduino Powered Autonomous Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Step 1: Component List & Project Cost . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Step 2: Vehicle Chassis and Mounting Platform . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Step 3: Program Logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
File Downloads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Step 4: LCD Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Step 5: Object Avoidance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Step 6: Waypoint Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
File Downloads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Step 7: GPS Navigation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Step 8: Compass Navigation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Step 9: Motor & Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Step 10: Infrared Sensor and Remote . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Step 11: Potential Future Enhancements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Step 12: Final Thoughts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Related Instructables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Advertisements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Comments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
http://www.instructables.com/id/Arduino-Powered-Autonomous-Vehicle/
Intro: Arduino Powered Autonomous Vehicle
A few months back I started playing around with Arduino micro controllers as a learning exercise (and for fun); this project is the culmination of that. The goal of the
project was to create a vehicle that can autonomously navigate through a series of waypoints (GPS coordinates) while avoiding any obstacles it encounters along the
way.
The project uses an assortment of electronic sensors and components, and pulled together the knowledge I had learned and synthesized from many sources along the
way.
In the attached video you can see a short clip of the car on its way, in this run it navigated through five GPS waypoints on a course on my neighborhood streets totaling
about 300 meters.
http://www.instructables.com/id/Arduino-Powered-Autonomous-Vehicle/
Step 1:Component List & Project Cost
The main components were the following:
A basic radio controlled (RC) vehicle. Can be a basic one like I used which are available in the $15 range. If you want to spend a bit more, get one with
proportional steering and four wheel drive. The one I used was similar to this one from Amazon.com (though it came from Wal-Mart and at a lower price at the
time).
An Arduino Uno micro controller. Amazon.com $24
A motor shield to control the two electric motors and allow for a separate motor power supply. Adafruit Motor Shield v2 $19.95.
A GPS for navigation. Adafruit Ultimate GPS Shield $49.95 (or breakout for $39.95)
A magnetometer for compass navigation. Adafruit HMC5883 Magnetometer $9.95
An HC-SR04 ultrasonic distance sensor for object avoidance. Amazon.com $6.00
An LCD display to display vehicle status and information. Yourduino.com $5.75 (I later upgraded to a 4-line LCD for about $12)
An infrared sensor & remote. Optional, added some convenience but not required for the project. I already had these components from a previous kit from
Yourduino.com
And of course an Arduino sketch (a C++ program) to control everything (code attached in this Instructable)
Additionally, the project used the following smaller components and accessories:
A thin wood board as a mounting platform; acrylic or other would have worked (and probably looked better!), but this is what I was able to find at local hobby
shops
Breadboard(s) for making connections. I used a long narrow breadboard for the main connections, and a very small breadboard (that originally came with a proto-
shield) so that I could mount the magnetometer as far from the other electronics as possible
Jumper wires
Surgu for mounting the ultrasonic sensor. Amazon.com $12
The following tools were used:
Soldering iron & solder
Drill
The rough project cost is around $120 - 150 depending on what components you may already have.
A note on project cost: other than the mounting board, almost all of the other components are re-usable; either things you already have that you can use for this project,
or things that we can eventually disassemble from this project and re-use elsewhere.
Step 2:Vehicle Chassis and Mounting Platform
I had seen posts on the internet about hacking inexpensive radio controlled (RC) cars and directly connecting an Arduino to the existing circuit board. I happened to have
such a car around that my 3 year old no longer played with; it was a $15 Wal-Mart RC car.
Unfortunately, my early soldering skills left a lot to be desired and I burned through a couple the delicate surface mount components, so I ended up with a partially
functioning vehicle.
Plan B: I ripped out the car's entire control board and purchased an Adafruit Motor Shield (v2). Problem solved. Now I had full control over the vehicle's motors...though
they were pretty basic.
The car was controlled by two DC motors: one controlled the drive, and using the pulse wave modulation (PWM) of the motor controller I was able to control the speed
across a range of speeds; the other controlled the steering. This inexpensive RC car did not have proportional steering; the left and right wheels are joined, and there is a
spring in the middle that holds the wheels in neutral (center) position when the DC motor is not engaged. When the motor is engaged, it goes to a full/hard turn left or
right. That allowed me to turn the vehicle, but provides limitations later when I want more sophisticated navigation. For a future enhancement I will try to replace the DC
motor with a servo for full proportional steering control.
I used a thin board as a mounting surface on which I attached the breadboards, Arduino, LCD, etc. I placed the battery supplies beneath the board and passed the cables
through holes I drilled.
In the first photo above, you see (1) the LCD, (2) the main breadboard, (3) the small breadboard for the magnetometer, (4) the Arduino (you are seeing the GPS Shield as
you look down), and (5) the magnetometer sitting up high on its pole mounted perch.
http://www.instructables.com/id/Arduino-Powered-Autonomous-Vehicle/
Step 3:Program Logic
The Arduino is controlled through a C++ program ("sketch"). The main action happens in the Arduino sketch loop() function which runs repeatedly. The basic program
control logic is:
Check to see if the kill switch was pressed (if enable in the configuration). 1.
Process any new GPS information and update the course and distance to the target. Move on to the next waypoint if we have reached the current destination. 2.
Read compass to get current bearing and decide the desired direction to turn the car 3.
Move the vehicle and check for any obstacles we need to avoid. 4.
Update LCD display 5.
The code to handle each of these is in separate functions.
Fully documented source code is attached.
File Downloads
RC_Car_Test_2014_07_20_001.ino (22 KB)
[NOTE: When saving, if you see .tmp as the file ext, rename it to 'RC_Car_Test_2014_07_20_001.ino']
waypointClass.h (436 bytes)
[NOTE: When saving, if you see .tmp as the file ext, rename it to 'waypointClass.h']
Step 4:LCD Display
The LCD provides invaluable insight what the vehicle is doing, critical for debugging and tuning the code. It also looks cool!
While running, the main screen shows the following information:
Row 1:
1. tH = Target Heading, the course to the current waypoint;
2. cH = Current Heading, the direction the vehicle is actually facing
Row 2:
3. Err = Error (in degrees) between the target heading and compass heading; this is a signed value indicating which direction (left or right) the vehicle needs to turn to
intercept the target heading;
http://www.instructables.com/id/Arduino-Powered-Autonomous-Vehicle/
4. Dist = Distance (meters) to the current waypoint; you will notice the small inline bar graph showing the remaining distance to this waypoint.
Row 3:
5. Snr = Sonar distance, i.e. the distance to any objects in front of the vehicle. Also has an line bar graph from 0 to the maximum detectable distance;
6. Spd = Speed of vehicle (0-255)
Row 4:
7. Mem = Memory (in bytes) of free memory; the Arduino Uno only has 2k so I had to watch this closely;
8. WPT n OF x; shows where the vehicle is in the list of waypoints.
Step 5:Object Avoidance
To drive autonomously, the vehicle needs to be able to check for and avoid obstacles it encounters as it drives. I handle this with a "ping" ultrasonic sensor and some
computer logic.
The sensor is a basic ultrasonic sensor. I combined that with the Arduino NewPing library, which is a big improvement over the original Ping library (among other things, it
only requires a single shared pin for both send & receive).
The sensor is pretty basic, and has a very narrow field of view. For this project, I am only using a single sensor with a fixed position (not a sweeping "radar" type
implementation).
I mounted the sensor to the front bumper of the vehicle with some Surgu. This was my first time using the product, and it works very well. I only used a single 3.5g packet,
and that was sufficient for this purpose.
The sensor has a tendency to return the occasional odd or random value...not sure why. In his excellent series of articles, Miguel Grinberg offers a simple solution: use a
moving average. I adopted his MovingAverage class to the project with good results.
The checkSonar() routine continually takes new measurements, adding each new measurement to the moving average; the average is then used for program logic.
If an object is detected, the following logic is applied:
Slow down
If the vehicle is going straight (not turning), turn in the direction closest to our waypoint (technically, closest to the course to our waypoint).
If the vehicle is already turning, then turn in the opposite direction to try to avoid the object.
If we get within a definable distance (TOO_CLOSE) of the object, stop, backup, and try again.
Once we have a clear path ahead, normal navigation resumes.
http://www.instructables.com/id/Arduino-Powered-Autonomous-Vehicle/
Step 6:Waypoint Management
In order to navigate a course, we need a way to manage the various waypoints. I started by creating a simple WaypointClass that holds a longitude and latitude value. I
then created an array of WaypointClass members to hold the waypoints, and a currentWaypoint variable to keep track of the current waypoint.
We continually check the distance to the current waypoint; if the distance falls within a configurable tolerance (say 5 meters), we say that the current waypoint has been
reached and advance to the next waypoint in the array.
A waypoint with 0 / 0 values signifies the end of the program.
File Downloads
waypointClass.h (436 bytes)
[NOTE: When saving, if you see .tmp as the file ext, rename it to 'waypointClass.h']
Step 7:GPS Navigation
We use the GPS to answer the basic question "Where are we right now?" Since we the waypoints are known constants, with the current local information we can then
calculate the distance and course to the current waypoint.
I used the excellent Adafruit Ultimate GPS Shield for the GPS. I was very impressed with this unit. My workshop is in the house in an upstairs bedroom where I didn't
expect to receive a GPS signal at all. To my surprise, I could get a good quality fix with 8 - 10 satellites! The acquisition time was amazingly fast...a few seconds, and
much faster than my expensive TomTom car based GPS. Note: since the GPS shield was on the top of my vehicle, I saved money by not purchasing the separate
antenna assembly and instead just used the built-in antenna...it worked great.
I used the Adafruit GPS library, mainly because of the good sample code that allowed the GPS reading to occur in an interrupt routine; that really freed up the rest of my
code so that timing was no longer a concern.
I borrowed code from the TinyGPS library to create functions to calculate distance-to-waypoint and course-to-waypoint.
Step 8:Compass Navigation
The GPS works great for providing accurate location data, but the scale on which this project operates is too small for it to provide accurate heading information (the car
can perform a 360 degree turn within a radius of about 6 feet, which is smaller than the typical accuracy of the GPS).
I utilized a digital magnetometer (which I refer to in the code as the "compass" through technically it isn't a compass). The "compass" provides a super fast readout of the
vehicles current heading.
With our current location from the GPS and our current heading from the compass, we calculate the course to our destination and which way to turn (left/right) to intercept
the target course.
Note that due to limitations in the steering ability of this inexpensive RC car, there was no proportional steering and no way to use more sophisticated PID logic. Instead, I
did a poor man's approach: I set a configurable "heading tolerance" of +/- 10 degrees. Meaning if our desired heading was 180 degrees, any course from 170 to 190 was
acceptable to the program (note: I played with this and tuned it...about 8 degrees seemed to work best). This prevented constant steering corrections in the short term. In
the long term, the problem was self-correcting: the "course to waypoint" is not static, it is constantly recalculated, so if our actual heading is off from the target heading, as
we continue moving forward a new target heading is calculated and will eventually fall outside of the steering tolerance, resulting in a turn towards the target path.
The magnetometer is very sensitive to electrical interference, so originally I mounted the compass on a mini-breadboard as far from the DC motors as possible to avoid
the main culprits of interference. Unfortunately, there was still too much interference, leading to inaccurate and random compass readings. I ended up having to mount
the magnetometer on a pole sitting about 10" above the car; that seemed to work well.
http://www.instructables.com/id/Arduino-Powered-Autonomous-Vehicle/
Step 9:Motor & Speed Control
The vehicle's speed is controlled through pulse wave modulation (PWM) provided by the Adafruit Motor Shield. Basically it allows us to apply partial power to the DC
motor (i.e. run at 25%, 50%, 75%, 100%, etc). For practical purposes, the motor needs around 20% power just to have enough torque to overcome resistance and get
rolling; and too fast of speeds made the vehicle too difficult to control. We defined a series of speeds as #define statements in the program, like SPEED_SLOW,
SPEED_FAST, SPEED_NORMAL, SPEED_TURN, etc.
The program logic sets the speed based on the following logic:
If the vehicle going straight (not turning), and no objects are detected, go fast
If the vehicle is going straight and detects an object, slow down
If the vehicle is turning (to avoid and object or just for intercept a navigation heading), slow down to the "turn speed"
The steering mechanism has a spring that holds the steering in the center position when power is not applied to the steering motor; this limits the steering to either a
hard-left or hard-right; proportional steering is not possible.
In the photo above, you can see (1) the rear wheel drive motor and (2) the front wheel steering motor.
http://www.instructables.com/id/Arduino-Powered-Autonomous-Vehicle/
Step 10:Infrared Sensor and Remote
I added an infrared (IR) sensor (with corresponding handheld remote) to provide some convenient functionality :
Kill switch. It is convenient to have a "kill switch" feature to stop the vehicle if it is behaving poorly.
Controlled start. When you power up the Arduino, the vehicle may start moving before you are ready. The IR remote allows a way to add a "push button to start"
functionality for a controlled start.
The IR sensor is only marginally effective as a kill switch; it is easily hindered by direct sunlight and has a limited range.
The remote control was nice for debugging the unit; I ultimately removed it in the final version to save memory, as the Arduino sketch was getting tight on the Arduino
Uno's very tight 2K of SRAM space available for variables, data and the stack.
Step 11:Potential Future Enhancements
I have a list of potential enhancements that would be nice:
Better RC car as the chassis. My son has this car (Amazon.com $40), and it is pretty awesome...4 wheel drive, works great on grass, rocks, dirt, etc. No
proportional steering though.
Add proportional steering...either get an RC car with this, or hack or upgrade an existing car. A servo may be one solution.
Add a SD card for logging the GPS track. This would require upgrading to an Arduino Mega, as the SD card requires about 700 bytes of RAM which I don't have
available on the Uno.
Add a better remote/kill switch.
Add a camera for still photos or video. A first person view video would be entertaining, and helpful for debugging.
Add a radio to send live telemetry data so I can track progress and information in real time. A two way radio might also allow for remote upload of waypoints
instead of having to recompile the Arduino sketch each time.
Step 12:Final Thoughts
This was a fun project. I learned a ton, and about a wide range of topics. I also benefited from a lot of information and resources that others have shared on the internet.
The full program code is documented and attached, I hope you find it helpful.
http://www.instructables.com/id/Arduino-Powered-Autonomous-Vehicle/
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Comments
18 comments Add Comment
abencomo says: Jul 24, 2014. 10:13 AM REPLY
That is very cool! Thanks for sharing. We built a similar project.
However, we installed an Android device onto a RC car and used an IOIO
board to control it autonomously. Here you can see the result:
http://youtu.be/vkvkfcqEUkk
khnzhd says: Jul 28, 2014. 11:15 AM REPLY
hey bro this is very cool project that you have built. any chance of u making an instructable about it ?? as there r no other clear building designs of it. Will
greatly appreciate the effort :D
AlB1 says: Jul 28, 2014. 11:51 PM REPLY
Yes, I'm hoping to write an instructable about it within the next few weeks. Thx!
CPARKTX says: Jul 24, 2014. 10:44 AM REPLY
Nicely done, thanks for sharing. Nice looking, very clean design; I like the metal platform.
abencomo says: Jul 24, 2014. 1:32 PM REPLY
I purchased metal platform @ onlinemetals.com
-------------------------------------------------
1 piece @ $5.94/piece
Aluminum 3003-H14
Perforated Sheet Round Hole
0.063" Thick
(0.1875" dia. holes)
0.25" stagger
Cut to: 6" x 9"
-------------------------------------------------
Cheers!
http://www.instructables.com/id/Arduino-Powered-Autonomous-Vehicle/
ihart says: Jul 28, 2014. 1:39 PM REPLY
Very cool project. I was wondering if your design can actually make the turn around the traffic cone way-point shown in the video? I know the resolution of
GPS is 1 to 10 meters depending on the number of samples you take etc. It seems to me that without WAAS or DGPS, it would be tough for this to navigate
on GPS or to mow a lawn and stay in a boundary. Anyway, very nice build and thanks for sharing.
CPARKTX says: Jul 28, 2014. 2:17 PM REPLY
The short video I linked to the Instructable does not show a traffic cone...however, in general, assuming no obstacles are encountered, the vehicle will
navigate directly to a waypoint and upon reaching it, turn to a heading to bring it directly to the next waypoint. I have been playing around with tuning the
code and building some test courses; where I need it to follow a specific path around an object I just use intermediate waypoints.
Several people have mentioned the idea of a lawn mower robot, that would be a cool project. I agree that having an exact GPS fence/boundary would be
unrealistic...about 1 meter is best case scenario and that is a pretty big gap on the lawn!
Thanks for reading, and if you do a lawn mower build please post, I'd love to see it.
epierce says: Jul 26, 2014. 8:00 PM REPLY
Great instructions!
mad_mat says: Jul 26, 2014. 3:18 AM REPLY
Kudos CPKART!
Nice job on seeing it through to the end and refining as you worked.
rimshot says: Jul 24, 2014. 8:55 AM REPLY
Nice project! Would love to try an autonomous lawnmower using GPS. I wonder if it would beat the buried-cable / bumper-sensor approach most lawn bots
use.
sheME says: Jul 25, 2014. 7:21 PM REPLY
I hope your project goes better then mine. With mine the mowing pattern was unique. The best statement came from my brother when he said I needed
to fire the person cutting the lawn. The mower stayed in the parameter. That was another project that did not improve the curb appeal of my house.
CPARKTX says: Jul 24, 2014. 10:42 AM REPLY
That would be a great project. I know that commercial agricultural tractors and the like are now GPS driven. You could easily add a GPS "fence" to
restrict the mower to a defined area. Getting it to cut all if the areas without skipping any and without repeatedly crossing the same area would be a truck.
Keep me posted.
welderhero says: Jul 25, 2014. 3:12 AM REPLY
I am a welder and fabricator and have great skill in that regard but in this field I am only an admirer of all you geniuses who can figure this stuff out. Good
job.
infomaniac50 says: Jul 24, 2014. 9:46 PM REPLY
One of these might work well as an RF kill switch. http://www.adafruit.com/products/1096 and one of these to control it.
http://www.adafruit.com/products/1095 they're dead simple to use just plug it in and push a button on the fob.
jdawe2 says: Jul 24, 2014. 1:13 PM REPLY
Geeeeeeenius!
zx lee says: Jul 24, 2014. 3:41 AM REPLY
Thumbs up for the detailed information of autonomous GPS car. Hope that I can make one for myself too. Good luck on your project.
srah1 says: Jul 22, 2014. 3:02 PM REPLY
great 'able, great vehicle! I've been working on something quite similar - including the compass, but mine was indoor so no GPS - I need to add indoor
positioning but have been dis-satisfied with the options I found so far. I also want to 3D print a shell - to keep the electrics out of sight/touch. I think I have a
solution to offer you for the two-way comms - I used a Bluetooth module! The range wasn't a problem for me as my use was interior only so I always had a
PC nearby. This worked well, I could upload a sketch and receive comms over arduino's IDE and serial port monitor, no additional software needed. This
allowed plenty of on-the-fly fixes to be made. You could use a laptop if outdoors, or some smartphone apps exist for this now too. This is what I used
https://www.sparkfun.com/products/12576, I liked it but there may be other options too - RF might have bette range for outdoor use. Depends on how far you
envisage letting it roam! Hope this helps.
http://www.instructables.com/id/Arduino-Powered-Autonomous-Vehicle/
jessyratfink says: Jul 22, 2014. 1:36 PM REPLY
The sensors on the front make him look like he's on a mission. Nice build!