Path Seeker Limited

Path Seeker
Path Tracking Control for Autonomous Road Vehicles > Project Overview

Path Seeker Overview

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How The Path Seeker Works

The Path Seeker works in a fairly simple manner. The core component of the path seeker is the position sensor, which is composed of an array of 32 photoreflectors laid across the front of the car's chassis. Each of the photoreflectors outputs 5V if it detects a bright surface and 0V if it detects a dark surface.

sensor

The photoreflectors are nicely mounted on a Printed Circuit Board (PCB) that was designed specifically for this purpose by the team.

sensor board

The 32 photoreflectors are connected to one of the two 8-bit digital input ports of the microcontroller using multiplexors. By looking at the value of the output of the photoreflectors, the microcontroller is able to calculate the position of the path just in front of it with respect to the center of the front axle of the vehicle. Using this information the microcontroller updates the steering servo to keep the center of the Path Seeker aligned with the position of the path.

The Control Scheme designed for the Path Seeker is shown in the diagram below.

control diagram
This website has been designed for the ELEC / CENG 499 design project at the University of Victoria.
The Path Seeker project team's supervisor was Dr. Ashoka Bhat

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