We decided to divide the project up into smaller sections. First we built a robotic platform on which we set up and organized our other components . We made the robot a very rugged prototype because it will mostly be used outside.

Our steps was simple, first build a small robot using Arduino, a motor shield, a battery pack. Next we implemented the control system of the robot. After looking at just about every option possible we decided to utilize a cell phone using Bluetooth. So, first we built the simple robot, attach the motor controller and Arduino; then we made the robot make simple movements without Bluetooth. Next, we added Bluetooth to the robot by installing a Bluetooth module and designed an App using MIT App Inventor to control the robot; moving forward, backward, left and right.

After the coding is done and

the code is uploaded to arduino,

we can connect the bluetooth

module to our smartphone.

Once connected, the app will

change connect bluetooth status

to connected and the red light

of bluetooth module will stop blinking at once.

Additionally we added  a magnetometer (compass) in the robot to give it a sense of direction. It is important to achieve better GPS navigation.

After the code is uploaded, the gps module will automatically connect to satellites to give gps coordinates. Typically Neo6m connects to one staellite in indoors and upto 4 satellites outdoors. 

At the end, we added a Ultrasonic Sensor to avoid collision to the system. We decided to use a Power Bank that feeds power to the L293d motor controller which in turn provides power to the Arduino and all other parts.

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Adding a magnetometer (compass) to the robot is not optional. If the robot does not know which direction it's pointed, then it will be very difficult for it to know which way to start it's journey. "But doesn't a GPS know which direction it's headed in?" Yes, but only after it has traveled a certain direction for an extended period of time. We don't have that kind of battery power to waste, we need a constant update on our direction so that we can create the quickest route to our destination. We cannot stress enough how important it is to get this part of the project Exactly Right. Once we get our magnetometer connector pins soldered we will need to mount it to the robot. It needs to be far enough away from the motors and anything else that could cause electromagnetic interference. We can use just about anything for a mast, just make sure it is not made of metal and also be sure not to use metal screws to attach it to the mast. 

For this whole thing to work, we need to add some libraries into the arduino library. If these Libraries are not installed, you will have compile errors when trying to Compile/ or Verify the code.

The Wire Library, The I2Cdev Library, The Servo Library, The Software Serial Library, QMC5883L Magnetometer Library, The AFMotor Library, The TinyGPS++ Library

After we are done with all the wiring, we can compile and upload the code to the arduino. The wiring pins connection is shown below.