Unimog
Autonomous truck with internet control - artificial intelligence and internet of things combined.
Vehicle
This project has been implemented with a toy truck long 450mm and 225mm wide.
The tipper offers enough space to carry the battery required for operation.
The entire electronics were removed and the control of the steering was modified to use a regular RC servo for precise control.
Elektronics
A PIC 16F87X was selected as central processor. It was programmed with JAL (just another language). This language contains libraries that make it easier to control the hardware.
The electronics were distributed over various circuit boards to facilitate the assembly in the vehicle.
Sensors
The clicks of the ultrasonic sensor can be heard as well as the servo sweeps.
- Ultrasonic long range sensor
In the turret on the cabin there's a ultrasonic sensor which allows to measure distances up to 15m. Once there's no obstacle in front, Unimog can speed up. - Infrared medium range sensor
The smaller turret on the bumper measures distances accurately up to one meter. - Ambient infrared sensors
at both sides and at the back infrared LEDs and sensors provide information about obstacles nearby. - Bumper
last but not least the bumper in front reports contact left front and right front.
- Speedometer
The speedometer disc is read by a infrared sensor to determine exact speed. Using these metrics, the Unimog can regulate its speed regardless of terrain inclination.
Using the sensors in the two turrets and the ambient sensors, the vehicle gathers information in real time.
In autonomous mode, the vehicle aims for a direction with no or distanced obstacles.
When controlled by a user, the vehicle prevents collisions.
Web Interface
The web interface is written in Java and has several controls for the Unimog.
The user controls the turret to aim the camera, triggers an environment scan to measure distances and sets direction and speed when driving.
All results are returned from the vehicle in real time.
