Autonomous Ground Systems DEVELOPING AUTONOMOUS STREET-LEGAL VEHICLES: ANALYSIS OF INTELLIGENT GROUND VEHICLE COMPETITION (IGVC) SELF-DRIVE/AUTO-NAV CHALLENGE VEHICLE DESIGN AND IMPLEMENTATION Andrew Kosinski, Mechanical Engineer, US Army TARDEC Kiran Iyengar, Electrical Engineer, US Army TARDEC 7/23/2018 DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited.
Autonomous Ground IGV IGVC C C Competit ompetition ion Pur Purpose pose Systems Objective: Educational Benefits: The objective of the competition is to This competition has been highly challenge students to think creatively as a team praised by participating faculty advisors as an about the evolving technologies of vehicle excellent multi-disciplinary design experience for electronic controls, sensors, computer science, student teams, and a number of engineering robotics, and system integration throughout the schools give credit in senior design courses for design, fabrication, and field testing of student participation. autonomous intelligent mobile robots. Real-world Applications: To advance and promote intelligent mobility for civilian and military ground vehicle applications. Intelligent mobility will provide the driver aids required for future Automated Highway Systems (AHS) and Intelligent Transportation Systems (ITS). For military systems, autonomous mobility will enable unmanned combat vehicles to perform high risk operations and multiply the force effectiveness of manned systems. IGVC objectives for military applications focus on goals established in the Department of Defense. IGVC promotes core intelligent mobility competencies in perception, planning, actuation and mechatronics. 7/23/2018 DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited. 2
Autonomous Ground 26 Y 26 Year ears s and R and Running unning Systems 500+ Teams 80+ Universities 7 Countries 7/23/2018 DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited. DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited. 3
Autonomous Ground 2018 P 2018 Par artici ticipa pating ting Sc Schools hools Systems DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited. DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited.
Autonomous Ground Compet Competiti ition on His Histor tory Systems 1993 - 2012 Autonomous Challenge 1995 Design Competition 1999 – 2000 Road Debris Course 1999 – 2001, 2003 Follower The Leader 2001 – 2012 Navigation Challenge 2006 – 2013 JAUS Challenge 2013 Auto-Nav Challenge 2014 IOP Challenge 2017 Spec 2 Demo 2018 Self-Drive Challenge DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited. DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited.
IGV IGVC 2018 (26th A C 2018 (26th Anniv nniver ersar sary) y) Autonomous Ground June 1 une 1-4, 2018, Oakland Univ 4, 2018, Oakland Univer ersit sity Systems DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited. DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited.
Autonomous Ground Self Drive Challenge Design Specifications Systems Entries must conform to the following specifications : • FMVSS 500 Platform • Design: Side by Side 2-person four-wheel ground vehicle • Type of Vehicle: Electrical, no gas • Maximum Length: 115 in (Polaris Gem e2 is 103 in, Renault Twizy is 91 in) • Maximum Width: 60 in (Polaris Gem e2 is 55.5 in, Renault Twizy is 47 in) • Maximum Height: 75 in (Polaris Gem e2 is 73 in, Renault Twizy is 57 in) • Maximum Weight: 1500 lbs • Maximum Speed: Speed is limited to 5 mph in 2018 • Speed will increase as safety features of Self-Drive course are developed. • Mechanical E-stop Location: The E-Stop button must be a push to stop, red, one inch dia. • Wireless E-Stop must be effective for a minimum of 100 feet. • Vehicle E-stops must be hardware based and not controlled through software. • Safety Light: must have easily identified brake lights red in color and reverse lights yellow • A strobe light mounted on roof and activated when the vehicle is under robotic control. • Teams may build their own drive-by-wire kits or use off the shelf drive-by-wire solutions : • TORC Robotics, • Dataspeed, • AutonomousStuff • Clearpath Robotics. • FMVSS-500 Vehicle Example - Polaris GEM e2 DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited. DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited.
Autonomous Ground Self Self-Dr Driv ive Challenge e Challenge at t IGV IGVC C 2018 2018 Systems A freelance event and awards given to the 1 st -6 th place performance based on performing the following actions: Lane Keeping, Lane switch, Merging, Avoiding crossing obstacles (pedestrians (mannequins) and vehicles), self-parking, right/left/intersection detection/logic. Vehicle Details: -FMVSS-500 Vehicle equipped with automotive systems drive-by-wire -Roll bar, seat belts and occupant protection doors or door strapping for safety driver -Fire extinguisher mounted near safety driver -External kill switches both sides of vehicle Sensor Details: Automotive ADAS sensors, Navigation sensor DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited. DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited.
Autonomous Ground 2018 Self-Drive Challenge Video Systems DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited. DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited.
Autonomous Ground 2018 L 2018 LTU TU Self Self-Dr Driv ive V e Vehic ehicle De le Development elopment Systems • Camera, Radar, Ladar, GPS • Applying deep learning to lane following • Various runs/conditions within LTU campus DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited. DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited.
Autonomous Ground Systems Smooth Control Law Lyapunov Stability Method Define the positive definite function as a Lyapunov candidate > 0 We seek Speed 𝑤 & 𝜕 that produce Steer 𝜀 that yield Distance 𝑠 & Orientation 𝜄 such that their velocities 𝑠 & 𝜄 ensures that the derivative ≤ 0 negative definite Lyapunov Stability Method states that a system is stable if a Lyapunov function 𝑤 can be found such that 𝑤 > 0 𝑏𝑜𝑒 𝑤 ≤ 0 . DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited.
Autonomous Ground Lyapuno punov Sta Stabilit bility y Sing Single le Polaris olaris GEM 2 GEM 2 Systems -Implementation of Lyapunov Stability smooth control Smooth Control algorithm into physical world model -Modified Matlab script Robotics toolbox -One vehicle used for demonstration of method DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited. DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited.
Autonomous Ground Benefits Benefits of of Lyapuno punov Sta Stabilit bility T y Test esting ing Systems -Use of scenarios to demonstrate use of intuitive ground vehicle user interfaces -Vehicle imbedded training to reduce warfighters cognitive burden -Reduce specialized vehicle training -Enhance performance ground systems DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited. DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited.
Lyapuno punov Sta Stabilit bility y Leader Leader-Follo ollower er Autonomous Ground Multiple Polaris GEM 2’s Systems This is a Leader-Follower Polaris Gem 2 to show the implementation of the Lyapunov Smooth Control algorithm in a constrained scenario. In this this scenario the functions include Lane-Keeping, Stopping and taking a right turn. There is a similar method for a left turn scenario. DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited. DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited.
Benefits Benefits of of Leader Leader-Follo ollower er Lyapuno punov Autonomous Ground Sta Stabilit bility Implementa y Implementation tion Systems Benefits to Warfighter: Trajectory takes away stress of having to do route planning during a hostile situation Additional Benefits: Practical use is for parking, real-time steering has to be taken into account Additionally solves problem of tight spots by taking this constraint out of the picture DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited. DISTRIBUTION STATEMENT A. Approved for public release; distribution unlimited.
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