Worcester Polytechnic Institute Digital WPI Major Qualifying Projects (All Years) Major Qualifying Projects March 2018 Goat Cart; An Autonomous Golf Cart Alexander Westfield rB iskman Worcester Polytechnic Institute Camila Di Fino Napolitano Worcester Polytechnic Institute David J. Baker Worcester Polytechnic Institute Jade A. Pierce Worcester Polytechnic Institute Jared Greene Perkins Worcester Polytechnic Institute See next page for additional authors Follow this and additional works at: https://digitalcommons.wpi.edu/mqp-all Repository Citation Briskman, A. W., Napolitano, C. D., Baker, D. J., Pierce, J. A., Perkins, J. G., & Mahan, M. A. (2018). Goat Cart; An Autonomous Golf Cart. Retrieved from https://digitalcommons.wpi.edu/mqp-all/6654 This Unrestricted is brought to you for free and open access by the Major Qualifying Projects at Digital WPI. It has been accepted for inclusion in Major Qualifying Projects (All Years) by an authorized administrator of Digital WPI. For more information, please contact [email protected]. Author Alexander Westfield Briskman, Camila Di Fino Napolitano, David J. Baker, Jade A. Pierce, Jared Greene Perkins, and Matthew A. Mahan This unrestricted is available at Digital WPI: https://digitalcommons.wpi.edu/mqp-all/6654 MQP-AW1-AV01 Submitted by: Jade Pierce Camila Di Fino Napolitano David Baker Matthew Mahan Alexander Briskman Jared Perkins Advised by: Alexander Wyglinski Ph.D I MQP-AW1-AV01 Abstract The Goat Cart is an autonomous vehicle that will be summoned via mobile app and safely drive around Worcester Polytechnic Institute’s campus. In order to accomplish this multiyear goal, this year’s team worked on the essentials of the golf cart. The primary subsystems of steering, braking, throttle, power and sensors were all improved and updated so the cart can drive-by-wire. The 2017-18 team worked to create a solid electro-mechanical base that future years can build off. II MQP-AW1-AV01 Acknowledgments Friends and Family of all of the team members Professor Wyglinski Dick Boucher Michael Boucher Professor O’Rourke Professor Bitar Brad Miller Professor Lauer Professor Stafford Keshuai Xu (Cosine) Wachusett Country Club Buggies Unlimited Curtis Instruments III Table of Contents ABSTRACT ................................................................................................................................................ II ACKNOWLEDGMENTS ....................................................................................................................... III TABLE OF CONTENTS ......................................................................................................................... IV LIST OF FIGURES ................................................................................................................................ VII CHAPTER 1. INTRODUCTION .............................................................................................................. 1 1.1 MOTIVATION ....................................................................................................................................... 1 1.2 PREVIOUS MQP’S WORK .................................................................................................................... 2 1.3 INITIAL CONDITIONS OF THE GOAT CART .......................................................................................... 3 1.4 CURRENT STATE OF ART IN AV .......................................................................................................... 6 1.5 REPORT ORGANIZATION ..................................................................................................................... 8 CHAPTER 2. PROJECT OBJECTIVES AND ORGANIZATION .................................................... 10 2.1 OBJECTIVES AND GOALS .................................................................................................................. 10 2.2 DIVISION OF LABOR .......................................................................................................................... 11 2.3 TIMELINE .......................................................................................................................................... 13 2.4 BUDGET AND RESOURCES................................................................................................................. 14 2.5 CHAPTER SUMMARY ......................................................................................................................... 15 CHAPTER 3. CONTROL AREA NETWORK (CAN) ......................................................................... 16 3.1 CAN HARDWARE DESIGN PROCESS: ................................................................................................ 19 3.2 CAN SOFTWARE DESIGN PROCESS: ................................................................................................. 35 3.3 CAN CHAPTER SUMMARY ................................................................................................................ 41 CHAPTER 4. STEERING ....................................................................................................................... 42 4.1 STEERING HARDWARE ...................................................................................................................... 42 IV 4.1.1 History of Goat Cart Steering ................................................................................................... 43 4.1.2 Steering System Redesign and Rebuild ..................................................................................... 50 4.1.3 Steering System Testing ............................................................................................................. 67 4.2 STEERING SOFTWARE ....................................................................................................................... 68 4.2.1 Steering Controls Circuit .......................................................................................................... 69 4.2.2 Software Design ........................................................................................................................ 73 4.2.3 Steering Software Implementation/ Testing .............................................................................. 80 4.3 STEERING SUMMARY ........................................................................................................................ 82 CHAPTER 5. BRAKING ......................................................................................................................... 84 5.2 BRAKING DESIGN .............................................................................................................................. 84 5.3 BRAKING IMPLEMENTATION ............................................................................................................. 89 5.4 BRAKING TESTING ............................................................................................................................ 95 5.5 BRAKING SUMMARY ......................................................................................................................... 98 CHAPTER 6. THROTTLE ...................................................................................................................... 99 6.1 THROTTLE CIRCUIT DESIGN ........................................................................................................... 100 6.2 THROTTLE IMPLEMENTATION ......................................................................................................... 105 6.3 NEW MOTOR CONTROLLER ............................................................................................................ 106 CHAPTER 7. POWER ........................................................................................................................... 109 7.1 POWER SUMMARY ....................................................................................................................... 114 CHAPTER 8. SENSORS ........................................................................................................................ 115 8.1 ASSESSMENT ................................................................................................................................... 115 8.2 ODOMETER/SPEEDOMETER ............................................................................................................. 116 V 8.3 ULTRASONICS ................................................................................................................................. 128 8.4 SENSORS SUMMARY ....................................................................................................................... 141 CHAPTER 9. CONCLUSION ............................................................................................................... 143 9.1 LESSONS LEARNED ......................................................................................................................... 144 9.2 FUTURE WORK ................................................................................................................................ 145 9.2.1 CAN Future Improvements: .................................................................................................... 145 9.2.2 Steering System Proposed Work ............................................................................................. 146 9.2.3 Braking Future Plans .............................................................................................................