Designing and manufacturing small scale autonomous vehicle

Purpose: Mobility, which is an indispensable part of the daily session, has numerous advantages, but also has disadvantages with user generalizations and prolonged travel time. If we call the process of arriving from one place to another; Errors occur within these stations with regard to people serving as users. The aim of this research is to obtain an unmanned drive for eliminating human errors and factors that mean human life as much as possible. Materials and Methods: Research and design were done in a reasonable and feasible way in the light of previous studies in engineering history. The position of the AV was determined by calculations together with the GPS module, and it was ensured to reach the desired target by means of the magnetometer. While going to the target, variables such as heading angle, position, distance to be traveled are calculated by the microprocessor. The obstacles that the AV encounters during its direction to the target are detected by ultrasonic sensors. In this AV, which has 5 ultrasonic sensors in total, 3 in the front and 2 in the sides, it is ensured that it reaches the target by creating new routes without getting caught in obstacles during its movement. With the experiments and calculations made, a wide obstacle detection area was created by giving 10-degree angles between the 3 sensors in front. Results: The autonomous vehicle has reached the determined position, which can be considered accurate. Regardless of the starting point, it arrived at the defined destination in an area with a diameter of 5 meters. Considering the costs of the sensors, simple algorithm, not very powerful processor and circuit elements, sufficient success has been achieved. Conclusion: It has been observed that the autonomous vehicle designed in accordance with its purpose is positioned within a 5-meter circle to the planned target. Ultrasonic sensors have successfully detected targets in the external environment. With a very low cost and a simple algorithm, the vehicle has reached the targeted location. It was observed that the calculations and the test results matched. Key Words: Autonomous Drive, Firefly Algorithm, Sensors, Unmanned Ground Vehicle.