GPS based autonomous vehicle navigation and control system

Abstract

The main aim of the paper is the development of an overall routing system which accepts input from common users via a simple android application and as a result directs the nearest vacant Cab towards the passenger. In this project two algorithms for the implementation of our project have been developed. The first algorithm is an autonomous route calculation algorithm in which a PC is used to calculate coordinates at each road intersection between any two input coordinates. The PC takes input coordinates from user and transmits the output coordinates to the cab. The 2nd algorithm is a control algorithm that navigates our prototype robots. It does so by using Haversine heading and distance formulae. The code gets it desired set point in the form of input coordinates and compares it to the robots current heading to compute an error signal. Based on this signal the robot's heading is changed to maneuver it within the robot boundaries. This type of system has a variety of applications and can be used for other purposes such as guiding a completely autonomous robot to distressed areas.