Autonomous Vehicles

Derek SmithEKU Dept. of Technology

Computer Electronic Networking

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OUTLINE Motivation: DARPA Grand Challenge and NAIT Introduction: The purpose of autonomous

vehicles and future roles Problem Statement: NAIT’s settings for the

new competition Proposed Solutions: Possible answers Results: Video and Explanations Conclusion: New understanding and Learning Future Work: Possible extensions to my work Questions Thanks

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MOTIVATION The DARPA Grand

Challenge was a great inspiration to me.

Along with a 2 million dollar prize.

NAIT played a big role in my motivation as well.

http://media.pbs.org/asxgen/general/windows/wgbh/nova/darpa_outt_03_220.wmv

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INTRODUCTION The issue with producing an

autonomous vehicle is that everything that can, always will go wrong.

Argo was a major part of my research. The DARPA Grand Challenge

How autonomous vehicles work properly The direction in which they are headed in

the near future.

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ARGO – A Linux based autonomous vehicle

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William “Red” Whittaker

Carnegie Mellon University's William "Red" Whittaker and the Red Team's Sandstorm vehicle

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PROBLEM STATEMENT

The National Association of Industrial Technology Added an autonomous component to

the annual robotics competition The robot must be able to follow a 1 ½

inch strip of reflective aluminum tape Creating a need for understanding

autonomous vehicles

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PROPOSED SOLUTION To Solve this I went through many

possibilities: Calibrating and adjusting the infrared

detectors I have. Purchasing close proximately infrared

detectors. Creating a light sensitive circuit that reflects

light off the tape Creating a circuit sending voltage through

the tape and receiving the information

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Proposed Solution

My solution was to create the circuit that ran voltage through the tape.

Other methods need constant revision The circuit method is simplistic It only deals with one main variable Less things to go wrong

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RESULTS It worked, not quit to

where I wanted it, but it still works.

Problems that resulted: At higher speeds

handling has problems. The directional decisions

are entirely too slow The bot does all the

tasks that are required at this point.

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Results

To the right is my code

Below is the main circuit

' {$STAMP BS2}' {$PBASIC 2.5}

DEBUG "Program Running!"

voltdetector1 VAR Bitvoltdetector2 VAR Bitvoltdetector3 VAR Bitvoltdetector4 VAR Bit

DO DEBUG CLS voltdetector1 = IN0 voltdetector2 = IN1 voltdetector3 = IN2 voltdetector4 = IN3IF (voltdetector2 = 0) AND (voltdetector3 = 0) THEN DEBUG "Moving Forward" PULSOUT 13, 850 PULSOUT 12, 650 ELSEIF (voltdetector2 = 1) THEN DEBUG "Front Left is off track" PULSOUT 13, 850 PULSOUT 12, 850 ELSEIF (voltdetector3 = 1) THEN DEBUG "Front Right is off track" PULSOUT 13, 650 PULSOUT 12, 650 ENDIF

LOOP

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CONCLUSIONS Not yet ready for the DARPA Grand

Challenge We have made head way for NAIT next year That is, if my predecessors don’t squander their

time and resources. Understanding an autonomous vehicle was

the goal of this project I have obtained that goal I’m still in awe of the capabilities out there, but

I at least know the basics of how they work.

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FUTURE WORK Possible extensions

Add vision analyses, nothing big

Create infrared mapping

And possibly add GPS Any suggestions will

be very welcome, email me at bruins_78@hotmail.com

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Questions

Does anyone have any Questions?

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THANK YOU

Thank you for your time and attention!