Mission 4 Report

Advanced GPS Navigation

Result: PASSED

The rover must successfully complete advanced navigation tasks using GPS waypoints and RF communication while maintaining robustness and environmental resilience.

Task 1: Waypoint Navigation

• The rover must navigate to a specified GPS waypoint provided beforehand.
• GPS waypoint coordinates may be hardcoded for this mission.
• The rover must stop within 15 feet of the marked GPS waypoint.

Task 2: Dynamic Waypoint Navigation and Return

• The rover must receive GPS coordinates from an RF transmitter beacon located at the starting point.
• It must place a physical marker within 15 feet of the specified waypoint.
• After placing the marker, the rover must return to its original starting location.
• The distance between the physical marker and the marked waypoint, as well as the distance between the start and end positions of the rover, will be measured.
• The cumulative error (marker placement + return accuracy) should not exceed 25 feet.

GPS Data Transmission

• The GPS coordinates of the waypoint will be transmitted as a 12-character message.
• The latitude coordinate consists of five digits preceded by ‘N’, while the longitude consists of five digits preceded by ‘W’.
• The five latitude digits represent decimals appended to 39; the five longitude digits represent decimals appended to -108.
• For example, a waypoint at 39.09495N, -108.58784W would be transmitted as: N09495W58784.
• Coordinates will be continuously transmitted by the RF beacon at 5-second intervals.

Performance Conditions

• Full credit requires successful mission completion on rough terrain.
• Extra credit will be awarded for successful completion on sandy terrain.

Hardware Documentation

• Arduino Mega 2560 - ATmega2560 @ 16 MHz, 5V logic for central control
• Adafruit Motor Shield REV 3
• 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
• 12V 8A 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)
• M100-5883 GPS-Compass dual module.

Mission 4 Full Code

Click Here to Download Mission 4 Code when complete.