Autonomous Rover Navigation Using GPS Based Path Planning

Nowadays, with the constant evolution of Artificial Intelligence and Machine Learning, robots are getting more perceptive than ever. For this quality they are being used in varying circumstances which humans cannot control. Rovers are special robots, capable of traversing through areas that are too difficult for humans. Even though it is a robust bot, lack of proper intelligence and automation are its basic shortcomings. As the main purpose of a rover is to traverse through areas of extreme difficulties, therefore an intelligent path generation and following system is highly required. Our research work aimed at developing an algorithm for autonomous path generation using GPS (Global Positioning System) based coordinate system and implementation of this algorithm in real life terrain, which in our case is MDRS, Utah, USA. Our prime focus was the development of a robust but easy to implement system. After developing such system, we have been able to successfully traverse our rover through that difficult terrain. It uses GPS coordinates of target points that will be fed into the rover from a control station. The rover capturing its own GPS signal generates a path between the current location and the destination location on its own. It then finds the deviation in its current course of direction and position. And eventually it uses Proportional Integral Derivative control loop feedback mechanism (PID control algorithm) for compensating the error or deviation and thus following that path and reach destination. A low cost on board computer (Raspberry Pi in our case) handles all the calculations during the process and drives the rover fulfilling its task using an microcontroller (Arduino).