Auto Navigating Vehicle
From Ece
Contents |
Objective
To design and build Auto Navigating Vehicle.
Team Members
- Veerendra Gadde - Coordinator
- Ashish Jannela - Recorder
- Rittu Sharma - Checker
Phase 1
Introduction
Auto Navigation allows the vehicle to follow the continuous path for the object from its initial position to the target position. In this project, the movement of vehicle is processed by giving the pre-recorded input through the Spartan-3E board. And the movement is monitored on VGA device display.
Concept
DC Motors will control the movement of vehicle (i.e,hardware side) and Castor wheels will allow it to move in all directions (front,back,left and right).DC Motor Driver will control the direction of current flow to DC motors and FPGA is used to control movement of vehicle based on pre-recorded input. VGA monitor can be used to view the position of vehicle.
Proposed Work
1).Hardware module – This will include the design and implementation of hardware components of the project.
2).Software module - This part of the project will control the movement of vehicle in all directions and Navigation of vehicle based on pre-recorded input.
3).Interface module - This part will provide a programmatic mechanism by which these components can communicate.
Required Parts:
A.DC Gear Motor + Wheel
- Product code:GM3 motor
- Specifications:[1]
- Wheels:[2]
- Quantity: 2
B.DC Motor Driver Chips
- Product code:SN754410 Motor Driver
- DataSheet:[3]
- Quantity: 1
C.Castor Wheels
- Quantity: 2
D.Spartan 3E board
- Datasheet:[4]
E.VGA Monitor
F.D/A Converter
G.Battery
H.Voltage Regulator
I.Switch
Expected Deliverables
- Movement of vehicle in all directions.
- Auto-navigation functionality based on pre-recorded input.
- VGA monitoring of the vehicle.
Phase 2
Introduction
Auto Navigation allows the vehicle to follow the continuous path for the object from its initial position to the target position. In this project, the movement of vehicle is processed by giving the pre-recorded input through the Spartan-3E board. And the movement is monitored on VGA device display.
Concept
DC Motors will control the movement of vehicle (i.e,hardware side) and Castor wheels will allow it to move in all directions (front,back,left and right).DC Motor Driver will control the direction of current flow to DC motors and FPGA is used to control movement of vehicle based on pre-recorded input. VGA monitor can be used to view the position of vehicle.
Proposed Work
1) Hardware module – This will include the design and implementation of hardware components of the project.
2) Software module - This part of the project will control the movement of vehicle in all directions and Navigation of vehicle based on pre-recorded input.
3) Interface module - This part will provide a programmatic mechanism by which these components can communicate.
Required Parts:
A.DC Gear Motor + Wheel
- Product code:GM3 motor
- Specifications:[5]
- Wheels:[6]
- Quantity: 2
B.DC Motor Driver Chips
- Product code:SN754410 Motor Driver
- DataSheet:[7]
- Quantity: 1
C.Castor Wheels
- Quantity: 2
D.Spartan 3E board
- Datasheet:[8]
E.VGA Monitor
F.D/A Converter
G.Battery
H.Voltage Regulator
I.Switch
Expected Deliverables
- Movement of vehicle in all directions.
- Auto-navigation functionality based on pre-recorded input.
- VGA monitoring of the vehicle.
Phase 3
Concept
DC Motors will control the movement of vehicle (i.e,hardware side) and Castor wheels will allow it to move in all directions (front,back,left and right).DC Motor Driver will control the direction of current flow to DC motors and FPGA is used to control movement of vehicle based on pre-recorded input. VGA monitor can be used to view the position of vehicle.
Block Diagram
Proposed Work
Modules
1) Hardware module
- Driver
- Inputs: A1, A2, A3, A4, EN1, EN2
- Outputs: Y1, Y2, Y3, Y4
A1 and A2 are used for controlling the movement of vehicle in forward and reverse directions for the first DC motor. Similarly A3 and A4 for second DC Motor.The Enable inputs EN1 and EN2 will allow to control the speed of the vehicle by varying the rotation of motor. The Outputs Y1, Y2, Y3, and Y4 will depend on the enable and input signals and are used to control DC Motors.
- DC Motor
- Inputs: Y1, Y2, Y3, Y4
The Outputs of Driver is given as inputs to the DC Motor. These inputs will control the rotation of the Motor.
2) Software module
- Clock Generator--clockgen
- Outputs: clko
This module decreases the clock rate.
- Pulse Width Modulation (PWM)
- Inputs: clko, A[7:0], B[7:0]
- Outputs: Q1[7:0], Q2[7:0]
By varying the pulse width of our digital signal, also known as pulse width modulation (PWM), we can produce an analog DC voltage. A DC motor spins at a rate proportional to the DC voltage applied to it. So using PWM, we will digitally vary the speed of rotation without using a dedicated digital‐to‐analog converter. By varying the inputs A and B, we will adjust the speed of the motors.
- Speed Segment -- (project module)
- Inputs: clko
- Outputs: ld1, ld2, A[7:0], B[7:0]
In this part, we will control the movement of vehicle by using the pre-recorded input.
- VGA module -- (toplab5)
- Inputs: clko
- Outputs: hs, vs, red, green, blue
In this part, we will display the movement of the vehicle in the VGA monitor.
3) Interface module
This part will provide a programmatic mechanism by which these software and hardware components can communicate through the Spartan3E Basys board.
Phase 4
Schematic
Snap Shots
Side View of Vehicle
Top View of Vehicle
Verification Plan
Hardware Module
- To verify the functioning of the system, we provided the pre-recorded input to the auto-navigation vehicle. After connecting all the modules and programming the FPGA, we observed that the movement of the vehicle on VGA Monitor. It was following the path provided by the pre-recorded input. Vehicle is successfully moving in straight, right and left directions.
Deliverables
- Movement of vehicle in Front,Left and Right direction.
- Auto-navigation functionality based on pre-recorded input.
- VGA monitoring of the vehicle.
Project Files
The Source Code here
