Control Group 2 Final Presentation

1
Control Group 2Final Presentation

• HLC 2
• (Heres Lookin at you Chen!)

2
Introduction

• Successful completion of the course
• Software architecture
• Proprietary technologies
• Problems encountered
• Future considerations
• Race highlights

3
We Rule.

• We rock, we roll...
• We love robots.

4
Simplified Software Architecture
5
Proprietary Technologies

• Expansion of LADAR data
• Applied once to compensate for vehicle width
• Applied a second time to maintain a safe distance
  from obstacles
• Sensor fusion and filtering
• GPS data used to find current position
• Gyroscope used to find current heading
• Speed Zones
• Dynamically adjust speed in the presence of
  obstacles

6
LADAR Expansion
7
Speed Zones
8
Problems Encountered

• Noise in the GPS
• Track on Ground
• Determination of Heading
• Track on Ground, Odometry, Gyro
• Modifications to speed and turn rate
• Slowed down to prevent skipping over waypoints

9
Future Considerations

• Virtual Boundary Checking
• Store map of the surrounding environment
• Incorporate GPS track on ground calibration with
  INS information
• Forward Path Planning

10
Race Highlights
Video by Qi Chen
11
Victory!

• Thanks to Qi Chen, John Martin, George, and Prof.
  Ozguner for all your help!