Abstract:

An autonomous vehicle is any vehicle that can drive itself from one locatin to another without the use of human intervention. When put in a convoy, several autonomous vehicles can follow one lead vehicle and mimic its movements. This can have many uses in the private, commercial, and government sectors. By using a CMUcam2, an Arduino Microprocessor, a Motorshield, and three Remote Controlled (RC) cars, it is possible to successfully create a prototype autonomous convoy based on light detection technology. One of the three RC cars remained unchanged. This car woud act as the Lead Vehicle - the vehicle that the autonomous vehicles would follow. The other two would be interfaced with a CMUcam2, an Arduino Microprocessor, and a Motorshield. These cars would become the two autonomous follower vehicles. The autonomous vehicles worked in several steps. First, the Arduino Microprocessor would send a command to the CMUcam2 telling it to track a certain color. Next, it would send another command asking for information about the color it is tracking. This inormation would be sent back to the Arduino, where it would be processed and used to determine the turning angle and velocity. After the calculations, the Arduino would send commands to the servo motor controlling the angle of the front wheels and the Motorshield controlling the rear wheels. The Motorshield would read the commands, and vary the voltage going to the DC motor controlling the rear wheels, and thus control the speed of the vehicle. When completely interfaced together, this method provides a reliable method to create a convoy of autonomous vehicles.