Mission 2 Report
Obstacle Avoidance (Without GPS Navigation)
Result: INCOMPLETE
The rover must successfully complete two consecutive runs to meet the requirements.
Task 1: Enclosed Area Navigation
- The rover must drive within an enclosed area of approximately 6 feet by 6 feet.
- It must avoid contacting walls or obstacles throughout the mission.
- The mission will last for 60 seconds.
Task 2: Waypoint Navigation with Obstacle Avoidance
- The rover must drive forward toward a waypoint located 30 feet directly ahead.
- It must demonstrate an avoidance algorithm by navigating around a single obstacle while maintaining its course to the original waypoint.
- Upon completion, the rover should stop within 5 feet of the marked waypoint.
- The mission must be completed in under 120 seconds.
Hardware Documentation
- Arduino Mega 2560 - ATmega2560 @ 16 MHz, 5V logic for central control
- Adafruit Motor Shield V1 - L293D H-bridge driver, up to 4 DC motors
- 33GB-520 DC Gear Motor (12V DC rated, 170-350 RPM no-load speed, 100mA no-load current, 5mm shaft diameter, 100g weight)
- Plastic bearing wheels - M4 mount screws, 50x35mm footprint
- Plastic driving sprockets - 54x5mm diameter (including teeth), 31.5mm height, 5mm coupling bore
- 5V 4A LiPo battery pack to power motors and electronics
- 433 MHz RF transceiver module for receiving distance commands
- SG90 micro-servo (1.8kg·cm, 180°) for payload deployment
- 2x HC-SR04 ultrasonic distance sensors (for obstacle detection/avoidance)
- QMC5883L Compass Module (3-axis magnetometer for heading stabilization)
Potential Improvements for Mission 3
- PID-controlled heading alignment • Implement a closed-loop PID controller on the compass error to reduce overshoot and oscillation when turning to North.
- Variable turn speed profiles • Ramp motor speed up and down during the turn (rather than fixed speed) to minimize mechanical backlash and reduce overshoot.
- Real-time heading averaging • Sample and average multiple compass readings before and after the turn to filter out noise.
Mission 2 Full Code
Click Here to Download Mission 2 Code when complete.