Project Overview
A terrestrial vehicle designed to follow CNC trajectories. The vehicle can read coordinates as motor velocity profiles and execute them with precision due to the implementation of a PID Controller. Trajectories are programmed from a remote human machine interface and sent to the vehicle using bluetooth protocol. The program is optimized to run long trajectories with over 200 points.
Mentored by:
PhD. Dante Chavarría

The Rover

The vehicle is powered by two DC Motors in rear traction configuration. Rotation can be achieved by controlling the speed of each motor simultaneously. The rover has a microcontroller unit to process the control algorithm and two hall-effect encoders to measure rotation of the motors.

The Interface

An HMI was designed and implemented using swift 4 as a mobile application for iPad. The HMI includes   a friendly interface that allows the user to enter a set of coordinates and send them to the Rover via bluetooth.
Bluetooth connection
Easily connect to your Rover using bluetooth low energy protocol.
Build your trajectory
Simply enter the trajectory and press the run button to watch the Rover perform it with precision.

How it works

CNC Control
A full CNC system composed of interpreter, interpolator and acceleration/deceleration profile was implemented to translate the codes sent from the HMI to velocity profiles for each DC motor.
PID Controller
A mathematical model of the motor was obtained using emprical system identification methods. A discrete PID controller was designed and programmed in the MCU to control the speed of each motor.