SYSTEM INTEGRATION OVER A CAN BUS FOR A SELF-CONTROLLED, LOW-COST AUTONOMOUS ALL-TERRAIN VEHICLE

This thesis presents research for making an All-terrain Vehicle (ATV) autonomous. The objective of this research is to have a standardized platform for autonomous ATV modules having the basic controllers integrated and working. This research includes standardizing data collection modules and control modules, and integrating all of these functional modules in one working system. The work involved building new modules, enhancing existing modules, and using already working (and standardized) modules. This effort includes electronic hardware, software, and mechanical designs. The overall system consists of actuators modules including: a steering controller, a throttle controller, and a braking system. The system also contains various sensor modules including a GPS sensor and an IMU sensor. All modules are attached to a CAN Bus which is connected to a central controller. The system design and implementation was demonstrated by the vehicle autonomously driving in a straight line, in a circle, and in a figure ’8’ path.