Intelligent Ground Vehicle Competition LTU Senior Project

1
Intelligent Ground Vehicle CompetitionLTU Senior
Project

• Presenting October 21st
• Nathaniel Johnson
• Jacob Bushon
• Timothy Helsper
• Danielle Johnson
• MaryGrace Janas

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What is the Intelligent Ground Vehicle
Competition about?

• University project teams
• Unmanned, unguided, independently acting robotic
  ground vehicles
• Navigation and obstacle avoidance
• Competition held at Selfridge Air Force Base

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Why does the Department of Defense host IGVC?

• The Department of Defense stated before Congress
  that they would have 1/3 of their ground vehicles
  made autonomous by 2015
• However, no such vehicles have yet been made
• DoD sponsors IGVC to encourage college students
  to develop the field of unmanned ground vehicles.
• The IGVC offers a design experience that is at
  the very cutting edge of engineering education.
  It is multidisciplinary, theory-based, hands-on,
  team implemented, outcome assessed, and based on
  product realization. It encompasses the very
  latest technologies impacting industrial
  development and taps subjects of high interest to
  students.

Sources UMQuest, IGVC Home Page
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Winning the IGVC

• A fully autonomous unmanned ground robotic
  vehicle must negotiate around an outdoor obstacle
  course under a prescribed time while staying
  within the 5 mph speed limit, and avoiding
  obstacles on the track.
• Ranking based on
• Time taken
• Distance traveled
• -- Penalties
• Penalties incurred by
• Obstacle collisions
• Pothole hits
• Boundary crossings

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Joint Architecture for Unmanned Systems - JAUS

• User-Friendly
• Simple Interface
• Easy to Maintain
• E-Stop
• Forward-Compatible Design
• Plug-and-play
• Capable of using new hardware or software
• Set to Wireless Standards

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Robotic Concept and Development
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Previous Robot
Forward-looking camera
On-board Laptop Computer
LIDAR
Multiple 12V Battery Power Supply
Two Wheel Drive
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Results from Last Years Competition

• Placed 7th Overall
• Vision systems and path-finding worked admirably
• Was unable to complete the course
• Occasional mistakes by the navigation software
• Could not climb the moderate inclines
• Battery did not last the entire course

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New Plan for the 2006 Competition

• Build a new robot
• As few parts as possible will be reused from the
  Think Tank
• Improve the software and hardware
• Advanced algorithms for better object avoidance
• Vastly improved electrical and mechanical systems
• Built to JAUS Specifications
• Involve engineering students to actualize
  hardware solutions

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Development Teams for IGVC 2006

• Computer Science
• Vision Systems
• Movement Control
• Mechanical Engineering
• Propulsion Methods
• Frame Design
• Electrical and Computer Engineering
• Wireless Capability
• Power System

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Concept Design for theThink Tank 2
Battery, Generator, or Fuel Cell Power Supply
On-board Laptop Computer with Wireless Link
Increased Mobility
Easy to Access Hardware Contained in a Reinforced
Frame
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Areas of Improvement Over Previous Robot
Electronics

• Extend operating time
• Provide constant reliable voltage to motors and
  other electronics
• Condense power supply into a single unit
• Deep-cycle Battery
• Gas generator (DC output)
• Step Up Converter
• Hydrogen Fuel Cell
• Add the E-Stop emergency stop safety feature

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Fuel Cell Concept

• 1.2 KW DC output Useable Indoors and Outdoors
• Safe and Environmentally Friendly
• Weighs 30-50 lbs
• 2.5 by 1.5 ft
• 7,000 cost
• A single 200 tank could last 6 days of
  continuous use at 100 load
• Recommended DC-DC converter to smooth output and
  prevent excess power draw from motors

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Fuel Cell Pictures
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Power Options

• Deep-cycle Battery
• Optima Blue-top Battery SC31DM
• 12 V battery, 12000 W max output, 60 lb, 2.5
  hour run time at 25 Amp Load
• Gas generator (DC output)
• Coleman Sport 1850
• 12 V DC, 180 W output, 70 lb weight
• Honda EU1000i
• 12 V DC, 100 W output, 30 lb weight

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Wireless Control - Omnex R161 Wireless Receiver

• The R161 receiver has 19FET output
• One E-Stop output for safe emergency shutdown of
  power to the output and external circuits
• Designed to be switched to ground instead of
  battery

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Omnex Origa T100 Transmitter
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Omnex Origa T100 Transmitter

• Trusted Frequency Hopping Spread Spectrum
  technology
• Maintenance Item- Battery
• High impact plastic exterior for rugged
  environments

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Project Results
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Department of Defense Satisfaction

• Meets JAUS Standards
• User Friendly
• Plug-and-play
• Wireless Capability
• Excellent Product
• Rugged
• Reliable
• Safe

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Pedagogical Benefits

• Student Development
• Interdisciplinary interaction
• Development of a real-world product
• New ideas and materials available for future
  senior project teams
• Military Development
• Provide for a need which currently has no
  solution
• Save the lives of our soldiers

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IEEE Issues

• Economic
• Supports one of the major economies of the US -
  Defense
• Environmental
• Materials have little to no dangerous exhaust
• Many parts can be reused
• Manufacturing
• Nearly all the materials are off-the-shelf
• Ethics
• Saves lives
• Health
• Exhaust is not dangerous
• Comes with E-Stop and 5 mile an hour hardware
  limit
• Social
• Using technology to help soldiers is applauded by
  society
• Legal
• Materials purchased at educational cost will not
  be used for commercial purposes.

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Thank You For Your Attention

• We would like to hear any question, comments or
  suggestions at this time