DESIGN OF WIRELESS CONTROL SYSTEMS AND NAVIGATION SYSTEMS ON THE AUTONOMOUS VEHICLES AT HEAVY EQUIPMENT COMPANY

Abstract

In this paper, the research development of the Autonomous Vehicle Prototype project has been carried out. The research was carried out on a golf cart (buggy) by designing wireless control and navigation systems. Designing a wireless control system on a golf cart aims to control the drive systems, steer systems, and brake systems. Furthermore, this system can be controlled electrically wirelessly through a Joystick Radio Controller, so that the golf cart can move forward, reverse, turn right and turn left. The navigation system aims to enable golf carts to track from point A to point B by using several sensors, including the GPS (Global Positioning System) sensor. GPS is used for tracking position on the golf cart, IMU (Inertia Measurement Unit) as a measure of the golf cart heading degree, LIDAR (Light Distance and Ranging) is used to detect distance and avoid obstacles, and Hall Effect Sensor as a speed sensor. The integration of the sensor and actuator systems is carried out using an Arduino Mega 2560 type microcontroller. Next, the movement from point A to point B is carried out autonomously. The final result of this research is that the GPS sensor can detect a track distance of 68.8 m with a minimum accuracy of 3 m and a resolution of 1 m. The IMU sensor can detect headings of 90^o with 2^o accuracy and 1^o resolution. The LIDAR sensor can detect obstacles at a distance of 0 m – 4 m, and the Hall Effect sensor can detect the RPM of the car at a speed of 5 km/h. Golf cart control can be done wirelessly and automatically on the navigation system from point A to point B by avoiding obstacles.