System Integration over a CAN Bus for a Self-Controlled, Low-Cost Autonomous All-terrain Vehicle

This paper presents research in progress for making an All-terrain Vehicle (ATV) autonomous. The objective of this research is to enable a controller to move the ATV from an initial position to a specific GPS coordinate, following a specific non-paved path without hitting obstacles. This research includes standardizing data collection modules and control modules, and integrating the entire all of these functional modules in one working system. The work involved building new modules, enhancing existing modules, and using already working (and standardized) modules. This effort includes electronic hardware, software, and mechanical designs. The overall system consists of actuators modules including: a steering controller, a throttle controller, and a braking system. The system also contains various sensor modules including: a GPS sensor, an IMU sensor, a bread crumbs sensor, and a LIDAR. All modules are attached to a CAN Bus which is connected to a central controller.