GOTChA Chart of Vehicle Team

1
GOTChA Chart of Vehicle Team
Goals
Technical Challenges
1. Build, improve, document and maintain three
types of reliable vehicles. 2. Develop high
performance on-board SW.

• 1. Bats do not all have similar physical
• parameters, i.e. friction coeff., weight
• distribution etc.
• 2. No experience running RhexLib on
• Linux.
• 3. The onboard computation ability limits
• of Bats.
• 4. Limit time on trajectory generation
• module.

Objectives
1. Common software architecture that supports
code reuse between heterogeneous MVWT
vehicles. 2. Revise low level hardware drivers.
Long-time (as long as OS alive) reliable
running and easy to reset. 3. Design high
performance inner loop local controllers
(Formulate the performance w.r.t. steady
state errors lt5, for all vehicles). 4. UDP
network interface to positioning system, C2,
and other user-specific applications. 5. Design
reference and trajectory generation
module. 6. Redesign mechanical structure of Bats.
Approach
1. Study the system ID and write user manuals. 2.
Study RhexLib and the software structure of
Kellys. Porting Kellys code to Bats. 3. Design
flexible, easy to reconfigure, local SW for
different vehicles. 4. Set up lab management
tools (forms on wiki). Use wiki and bugzilla
to track bugs. 5. Work with other teams on
interface design. 6. Design naive traj.
generation module for Roboflag
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Status Chart of Vehicle Team
RG, CH, BN, ZJ
RG, CH, ZJ
ZJ, DD
Maintenance (manual, wiki)
Mounting
HW Drivers
K
B
SB
K
B
SB
K
B
SB
Interface
HW structure
Positioning
ZJ
Documents
RG, AS, BN, ZJ
Kellys
C2
ZJ
RG
Onboard SW structure
Bats
Renew Kelly
Other Apps.
CH, BN, DT
SBs
CH
Bats manual
JM, DD
Kellys
AS, DD
JM, CH, RG
Controller Design
ZJ Zhipu Jin CH Chung Hsieh BN Bao
Nguyen RG Rajiv Ghanta JM Jeremy Malaize AS
Alex Sutherland
SteeleBots
Sys. ID (Bats)
Bats
SBs
ZJ
RhexLib