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https://github.com/liuzihe02/agv
autonomous guided vehicle for package delivery
https://github.com/liuzihe02/agv
arduino control-systems embedded-systems
Last synced: about 1 month ago
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autonomous guided vehicle for package delivery
- Host: GitHub
- URL: https://github.com/liuzihe02/agv
- Owner: liuzihe02
- Created: 2024-10-11T00:06:36.000Z (4 months ago)
- Default Branch: main
- Last Pushed: 2024-11-04T15:45:33.000Z (3 months ago)
- Last Synced: 2024-11-04T16:39:00.186Z (3 months ago)
- Topics: arduino, control-systems, embedded-systems
- Language: C++
- Homepage:
- Size: 67.4 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# Autonomous Guided Vehicle for Package Delivery
An Arduino-based autonomous delivery robot that navigates a toy environment to collect and deliver packages to designated locations.
## System Overview
### System Diagram
```mermaid
flowchart TB
subgraph System["Robot Control System"]
direction TB
S[/"Sensors
- line sensors
- magnetic sensors
- push button"/]
Ag["Agent
policy π(a|s)"]
Act[/"Actuators
- DC motors
- servo claw"/]
S -->|s_t| Ag
Ag -->|"a_t ~ π(a|s_t)"| Act
end
E(("Environment"))
E -->|"Get physical readings"| S
Act -->|"Take actions and interact with environment"| E
```
### Pin Connections
| Component | Pin(s) |
|-----------|--------|
| Line Sensors | Front Left (7), Back (9), Left (10), Right (11), Front Right (12) |
| Magnetic Sensor | 6 |
| DC Motors | Left (2), Right (3) |
| Servo Claw | 13 |
| LED Indicators | Blue (4), Red (3), Green (1) |
| Push Button | 5 |
## Code Structure
The codebase follows an object-oriented design with three main classes:
### Sensor Class
- Manages line and magnetic sensor readings
- Maintains buffer of historical sensor values
- Line sensor setup:
### Actuator Class
- Controls DC motors for movement
- Operates servo motor for claw
- Manages LED indicators
- Implements low-level motor actions:
- Forward/backward steps
- Left/right turns
- Straight line movement
### Agent Class
- Core decision-making module
- Maps sensor states to actuator commands
- Implements high-level navigation strategy
### Navigation Strategy
1. Robot follows predefined paths stored in `allPaths` matrix
2. Each path contains sequence of junction decisions:
- `turn_forward_right/left`: Turn at T-junctions
- `step_forward/backward`: Move straight
- `straight_forward`: Extended forward movement
3. Junction detection:
- Uses line sensor buffer to confirm consistent readings
- Increments junction counter when validated
- Executes corresponding decision at that junction
4. Line following:
- Error correction based on front sensors
5. Package handling:
- Magnetic sensor detects package properties
- LED indicators show package state
- Servo claw for pickup/delivery
## Development Environment
This project uses `PlatformIO` as the development environment. PlatformIO is an open-source ecosystem for IoT development, industry standard in embedded systems. We use the `PlatformIO` plugin for `VSCode`, so that we can compile and build files from `VSCode`.
### platformio
Compared to a project without `platformio`, the main difference is the `platformio.ini` file which provides the key configurations for our project.
- `lib_deps` parameter specifies all the libraries that we'll use in our projects
- `upload_port` specifies which port of the computer we'll use to connect to the Arduino board, this is usually set automatically but may need to be configured depending on your system
### Importing core libraries
Since we're not using the Arduino IDE, we'll have to import libraries ourselves using `#include` in the `main` file.
## Extra Notes
- Different motor have different speeds
- Thinking blue crosses are junctions
- `Serial.Print` causes major lags, remove these in the loops
- After line sensing, delayed action to motors
- Use a buffer to make readings consistent before making a decision
- Added a double check whenever we encounter `|-` or `-|` junctions, make sure its not a cross
- Be careful about using `delay`! Delay makes it continue the previous action for some time, NOT stop the robot
- Make sure when you upload code or press the reset button, to disconnect the servo AND the motor
- Otherwise the servo will do a 270deg turn