Designing an Autonomously Navigating Model Buggy
Richard Choquette, Payam H. Matin, Ali M. Eydgahi · 2020
Abstract Designing an Autonomously Navigating Model BuggySenior students in the Engineering and technology programs are challenged to thoroughly apply theirlearned technological knowledge and skills toward design and implementation of a challenging engineeringproduct in senior deign or capstone courses.In this paper, a successfully implemented comprehensive design of an autonomously navigating 1/10th scalemodel buggy by a senior engineering student under supervision of two advisers is presented, which utilizesa synergy of competencies gained from undergraduate academic and research experiences with insight to theefforts concerning senior design project.The main goal of this project was to design and implement an autonomous system with the ability tonavigate while utilizing GPS, a digital compass, and infrared (IR) sensors for obstacle avoidance. Thesystem should have been designed in such way that could easily be replicable with a low cost platform whileutilizing open source software.The platform is a 1/10th scale model electric buggy. The microcontroller processes the GPS, compass, andIR sensor data to steer the buggy on the proper course between waypoints. Wireless telemetry provides real-time data on the vehicle’s position, speed, and heading. The microcontroller is an Arduino-based ArduPilot.This is an open source microcontroller with an available code designed to stabilize and navigate a radiocontrol plane along a set of waypoints utilizing GPS. The program and board are open source, allowing fordesign modifications to the board and code. This saves development time and money, essentially providinga running start to the project to allow for a more comprehensive end result. The open source code has beenspecifically developed for an aircraft which travels at high speed while gathering an accurate heading viaGPS. Such code has been modified for the model buggy to work with a digital compass in order to allow forlower speed control with an accurate heading on the ground. In addition, there are a multitude of obstacleson the ground which must be avoided while traveling between waypoints. The buggy utilizes three longrange IR sensors in order to see obstacles 18ft away and avoid them in its path to the next waypoint.The performance of the model buggy has been validated through a number of testing. The performance ofthe system designed is promising. Significant experience has been gained in the development of thisautonomous control system while applying the knowledge learned over the course of undergraduate study. 1