Autonomous Ground Vehicle Senior Design Project EE ME Anshul - PowerPoint PPT Presentation

Autonomous Ground Vehicle Senior Design Project EE ME Anshul Tandon Donald Lee Hardee Brandon Nason Ivan Bolanos Brian Aidoo Wilfredo Caceres Eric Leefe Advisors: Mr. Bryan Audiffred & Dr. Michael C. Murphy

IGVC – History and Description • Sponsored by AUVSI • 15 th Annual Competition (June 8-11, 2007) • Oakland University, Rochester, Michigan • Autonomous Ground Vehicle Competition Autonomous Challenge − Design Challenge − Navigation Challenge − For more info… Please visit IGVC’s official website: http://www.igvc.org/

Organizational Chart • Software • Recharging • Control • Battery • Sensor • Vision Navigatio Power n Propulsio Frame n • Traction • EStop • Body Material • Motor • Steering • Speed Control

Navigation – Vision • Requirements − Obstacle Detection − Obstacle Avoidance − Lane Following • Potential solutions − Camera – lane following − Laser range-finder – Object detection and avoidance − IR Proximity Detectors − Combinations of the above Images… http://www.sick.com http://www.adimec.com

Navigation – GPS • Determine position – GPS alone • Determine heading – 2 GPS units, digital compass, gyroscope • Determine speed – GPS, accelerometer, encoder attached to wheel

Propulsion • Develop an efficient, small, and economic system. • Deliver mechanical power to the traction mechanism. • The system must stay within the rules of competition. • Possible solutions − DC motors (with brushes) Brushless DC motor − DC motor with brake assembly − Servo motor − Stepper motor −

Traction & Steering Requirements Possible Solutions • Low Cost • 2 Powered wheels and 1 caster wheels • Reliability • 2 Powered wheels and 2 • Stability caster wheels • Power delivery efficiency • Tracks • Good traction • 4WD with rack and pinion • Zero-turn radius steering of 1 axle • Low weight • 4WD with rack and pinion • Ease of manufacture steering of 2 axles

Power • Requirements − Deliver constant power − Extensive Life − Monitor Itself • Possible sources − Batteries − Solar Panels − Gas-Powered Generator

Frame • Requirements − Dimensions − Lightweight − Sturdy − Corrosion resistant • Options − Material • Aluminum • Steel − Water Resistance • Fiber Glass Cover • Plexi-glass • Coated Polyster

Software • Requirements − Lengthy Code − Unorganized Code − Multiple Versions • Solutions − Keep good documentation − Keep an online copy of source that maintains differences

Safety Issues • Requirements − Mechanical device location on robot − Wireless controller with 50’ range − Abrupt and complete stop • Solutions − Circuit connection broken by actuator − Immediate Electrical Shutdown − RF link to activate mechanical E-Stop Images… http://www.icoproducts.com

Budget and Costs • No budget regulations • Estimated costs $6000 − Navigation $1500 − Power $500 − Propulsion $1000 − Frame $1000 − Software $2000 • Sponsors

Timeline and Future Plans • Continue researching details • Acquire funding and sponsors OCT ‘06 • Determine optimal solutions • Determine testing strategy NOV ‘06 • Order parts and materials • Device automation algorithms DEC • Present overall design solution ‘06 • Acquire parts • Assemble, interface, and code SPR ‘07 • Optimize overall solution

AGV – Past Competitions Images… http://www.igvc.org/photos.html

Summary • Navigation − Camera − Laser rangefinder − Differential GPS Unit − Central Processing Unit • Propulsion − DC motors − Traction providing wheels • Power − Rechargeable efficient batteries • Frame − Strong, light material

Finalé • Details – contact area experts − Navigation – Vision Anshul Tandon − Navigation – GPS Eric Leefe − Propulsion Ivan Bolanos − Propulsion Wilfred Caceras − Power Brian Aidoo − Frame Donald Lee Hardee − Software Brandon Nason • Questions / Suggestions?