Heru Suprapto, Iqbal Nur Fauzi, S. Ardi, Agus Ponco Putro
{"title":"重型设备公司自动驾驶汽车无线控制系统和导航系统的设计","authors":"Heru Suprapto, Iqbal Nur Fauzi, S. Ardi, Agus Ponco Putro","doi":"10.52453/t.v13i2.430","DOIUrl":null,"url":null,"abstract":"Abstract - In this paper, the research development of the Autonomous Vehicle Prototype project has been carried out. The research was carried out on a golf cart (buggy) by designing wireless control and navigation systems. Designing a wireless control system on a golf cart aims to control the drive systems, steer systems, and brake systems. Furthermore, this system can be controlled electrically wirelessly through a Joystick Radio Controller, so that the golf cart can move forward, reverse, turn right and turn left. The navigation system aims to enable golf carts to track from point A to point B by using several sensors, including the GPS (Global Positioning System) sensor. GPS is used for tracking position on the golf cart, IMU (Inertia Measurement Unit) as a measure of the golf cart heading degree, LIDAR (Light Distance and Ranging) is used to detect distance and avoid obstacles, and Hall Effect Sensor as a speed sensor. The integration of the sensor and actuator systems is carried out using an Arduino Mega 2560 type microcontroller. Next, the movement from point A to point B is carried out autonomously. The final result of this research is that the GPS sensor can detect a track distance of 68.8 m with a minimum accuracy of 3 m and a resolution of 1 m. The IMU sensor can detect headings of 90o with 2o accuracy and 1o resolution. The LIDAR sensor can detect obstacles at a distance of 0 m – 4 m, and the Hall Effect sensor can detect the RPM of the car at a speed of 5 km/h. Golf cart control can be done wirelessly and automatically on the navigation system from point A to point B by avoiding obstacles. \nKeywords: GPS, IMU, LIDAR, Wireless Control system, Navigation System, autonomous vehicle","PeriodicalId":124558,"journal":{"name":"Technologic","volume":"71 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"DESIGN OF WIRELESS CONTROL SYSTEMS AND NAVIGATION SYSTEMS ON THE AUTONOMOUS VEHICLES AT HEAVY EQUIPMENT COMPANY\",\"authors\":\"Heru Suprapto, Iqbal Nur Fauzi, S. Ardi, Agus Ponco Putro\",\"doi\":\"10.52453/t.v13i2.430\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Abstract - In this paper, the research development of the Autonomous Vehicle Prototype project has been carried out. The research was carried out on a golf cart (buggy) by designing wireless control and navigation systems. Designing a wireless control system on a golf cart aims to control the drive systems, steer systems, and brake systems. Furthermore, this system can be controlled electrically wirelessly through a Joystick Radio Controller, so that the golf cart can move forward, reverse, turn right and turn left. The navigation system aims to enable golf carts to track from point A to point B by using several sensors, including the GPS (Global Positioning System) sensor. GPS is used for tracking position on the golf cart, IMU (Inertia Measurement Unit) as a measure of the golf cart heading degree, LIDAR (Light Distance and Ranging) is used to detect distance and avoid obstacles, and Hall Effect Sensor as a speed sensor. The integration of the sensor and actuator systems is carried out using an Arduino Mega 2560 type microcontroller. Next, the movement from point A to point B is carried out autonomously. The final result of this research is that the GPS sensor can detect a track distance of 68.8 m with a minimum accuracy of 3 m and a resolution of 1 m. The IMU sensor can detect headings of 90o with 2o accuracy and 1o resolution. The LIDAR sensor can detect obstacles at a distance of 0 m – 4 m, and the Hall Effect sensor can detect the RPM of the car at a speed of 5 km/h. 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引用次数: 0
摘要
摘要:本文开展了自动驾驶汽车原型项目的研究开发。以高尔夫球车(小车)为研究对象,设计了无线控制和导航系统。在高尔夫球车上设计无线控制系统的目的是控制驱动系统、转向系统和制动系统。此外,这个系统可以通过一个操纵杆无线电控制器进行无线控制,这样高尔夫球车就可以前进、倒车、右转和左转。该导航系统的目标是利用GPS(全球定位系统)传感器等多个传感器,使高尔夫球车能够从A点追踪到B点。GPS用于跟踪高尔夫球车上的位置,IMU(惯性测量单元)用于测量高尔夫球车的航向度,LIDAR(光距离和测距)用于检测距离和避开障碍物,霍尔效应传感器作为速度传感器。传感器和执行器系统的集成使用Arduino Mega 2560型微控制器进行。接下来,从A点到B点的运动是自主进行的。本研究的最终结果是,GPS传感器可以检测到68.8 m的轨迹距离,最小精度为3 m,分辨率为1 m。IMU传感器可以探测90度的航向,精度为20,分辨率为10。激光雷达传感器可以检测到距离0米- 4米的障碍物,霍尔效应传感器可以检测到车速为5公里/小时时汽车的转速。高尔夫球车控制可以通过无线和自动导航系统从A点到B点,避开障碍物。关键词:GPS, IMU,激光雷达,无线控制系统,导航系统,自动驾驶汽车
DESIGN OF WIRELESS CONTROL SYSTEMS AND NAVIGATION SYSTEMS ON THE AUTONOMOUS VEHICLES AT HEAVY EQUIPMENT COMPANY
Abstract - In this paper, the research development of the Autonomous Vehicle Prototype project has been carried out. The research was carried out on a golf cart (buggy) by designing wireless control and navigation systems. Designing a wireless control system on a golf cart aims to control the drive systems, steer systems, and brake systems. Furthermore, this system can be controlled electrically wirelessly through a Joystick Radio Controller, so that the golf cart can move forward, reverse, turn right and turn left. The navigation system aims to enable golf carts to track from point A to point B by using several sensors, including the GPS (Global Positioning System) sensor. GPS is used for tracking position on the golf cart, IMU (Inertia Measurement Unit) as a measure of the golf cart heading degree, LIDAR (Light Distance and Ranging) is used to detect distance and avoid obstacles, and Hall Effect Sensor as a speed sensor. The integration of the sensor and actuator systems is carried out using an Arduino Mega 2560 type microcontroller. Next, the movement from point A to point B is carried out autonomously. The final result of this research is that the GPS sensor can detect a track distance of 68.8 m with a minimum accuracy of 3 m and a resolution of 1 m. The IMU sensor can detect headings of 90o with 2o accuracy and 1o resolution. The LIDAR sensor can detect obstacles at a distance of 0 m – 4 m, and the Hall Effect sensor can detect the RPM of the car at a speed of 5 km/h. Golf cart control can be done wirelessly and automatically on the navigation system from point A to point B by avoiding obstacles.
Keywords: GPS, IMU, LIDAR, Wireless Control system, Navigation System, autonomous vehicle