Hi all i am currently working on a Final Year Project upon completing my Undergraduate Degree in 2 months time. The following are my project objectives which i have met and have some time to spare. I would like to hereby ask for any opinion if any area of my project require improvements or value added feature which would further perfect it. The system is built based on a 26cm x 15cm 4WD mobile robot with 6 ultrasonic sensors (HC-SR04).
Objectives:
- To parallel park and depart within the minimum parking bay of 33cm.
- To be able to detect a suitable parking space and adjust accordingly if the space is larger than 33cm.
- To display "search duration" and "parking duration" to the user on a 16x2 LCD.
Progress so far:
The robot is able to detect obstacle in front and stop until the obstacle is not detected anymore. It then moves forward and look for a suitable parking bay on the right. If a parking bay is found, the search duration is then displayed to the user as it adjust itself parallel to the wall before proceeding to move into the parking bay. The angle which the robot has to reverse into the parking space is determined by the sensor distance away from the wall. However the value can be inconsistent and i will be implementing the use of HMC5883L (3 axis gyro magnetometer) to better retrieve an accurate angle value. This angle value complements the algorithm which i had written to adjust itself accordingly with the parking bay length detected. The robot then parks and display the parking duration before checking the left sensor for departure.
Note: Led indicator/1 x ultrasonic sensor are on the slave of ATMEGA328P using I2C.
Problems encountered:
- Inconsistent angle value.
- Ultrasonic echo interfere between sensors during parallel adjustment to the wall before reversing into parking bay.
- Detecting parking bay using delay is very much inconsistent( 33cm = 0.62ms @ 8V PWM 100 bit)
Value added suggestions?:
- Incorporate the use of HMC5883L (3 axis magnetometer) to better detect angle value.
- Using Bluetooth serial to send position/sensor value to Processing for 2D mapping. (HC-06 Bluetooth not connecting to PC
)
Please suggest or advice if you have any improved solutions or suggestions which could be made implemented into this design. I have completed whatever i have up till now solely on my own, and if you have any questions regarding this project, feel free to message me. This FYP module of mine will contribute significantly to my GPA as it holds a twice the amount of credit hours at my college [KDU College Penang under Northumbria University UK] EEE Engineering.
Thanks in advance,
MatthewPrag.