Design of a Control Architecture for an Autonomous All-Terrain Vehicle

As a part of a larger research project to control an All-terrain Vehicle (ATV) using Machine Learning techniques, this paper discusses the implementation of a base architecture for a Honda Rancher ATV to control the vehicle using digital signals and CAN bus messages. Previous research implemented a CAN network that connects a central processing unit to a throttle controller, a steering module, and a braking system. The previous research successfully accomplished controlling the ATV to move in a Figure-8 pattern backward, but it faced a problem in maintaining a constant speed on different inclined ramps and to make sharp turns going forward. This paper discusses the solutions to control the speed and the handlebar angle. The research includes a closed loop control system to control the ATV speed by getting current speed feedback from the ATV engine velocity sensor. The paper discusses different methodologies to determine the speed including an encoder and Global Positioning System. This paper also describes the problem with the caster angle in the previous studies with respect to the steering angle control. A new design was implemented with an additional servo motor using pulleys and aluminum wire to steer the handlebar as an average human would steer it. Testing demonstrated stable control of the ATV in different environments with the full range motion control of the handlebar.