samuk / Autonomous-Robot-Navigation-and-Control

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.

Autonomous-Robot-Navigation-and-Control

Table of Contents

• Description
• Overview
  • Tasks
  • System Description

Description

In this project, I copy and adapt a robot navigate autonomously through a series of tasks, using Arduino, motors, encoders and distance sensors.

This is an adaptation of a project documented in this post for more information about the project.

Overview

Tasks

0.1 spin motors

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

Proposed System Description

I propose several components to control the robot motion:

1. Arduino running on - ESP32 Dev C board for 'brain'
2. Motors & encoders:
   • 2205 BLDC motor with AS5840A encoders- One on each rear wheel to activate and control the motion
   • Deng Driver board running this I2C code
   • Servo motor - Located on the front of the vehicle and used to rotate the TOF sensor to desired scanning angle
3. Sensors
   • IR sensor - One on each side of the vehicle to measure side distance
   • TOF (Time of Flight) sensor - 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 9250 (9 DOF) - Measures orientation (Gyroscope) and acceleration (Accelerometer). Compass is not in use
4. Led matrix - Indicates mission number and mission success/fail

The system components: Diagram TBD

Arduino pin usage: Diagram TBD

The autonomous vehicle: Similar to