intelligent ground vehicle competition ltu senior project
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Intelligent Ground Vehicle Competition LTU Senior Project. Presenting October 21 st Nathaniel Johnson Jacob Bushon Timothy Helsper Danielle Johnson MaryGrace Janas. What is the Intelligent Ground Vehicle Competition about?. University project teams - PowerPoint PPT PresentationTRANSCRIPT
Intelligent Ground Vehicle CompetitionLTU Senior Project
Presenting October 21st
Nathaniel JohnsonJacob BushonTimothy HelsperDanielle JohnsonMaryGrace Janas
IGVC Team 2006
What is the Intelligent Ground Vehicle Competition about? University project teams Unmanned, unguided, independently
acting robotic ground vehicles Navigation and obstacle avoidance Competition held at Selfridge Air Force
Base
IGVC Team 2006
Why does the Department of Defense host IGVC? The Department of Defense stated before
Congress that they would have 1/3 of their ground vehicles made autonomous by 2015
However, no such vehicles have yet been made DoD sponsors IGVC to encourage college
students to develop the field of unmanned ground vehicles. “The IGVC offers a design experience that is at
the very cutting edge of engineering education. It is multidisciplinary, theory-based, hands-on, team implemented, outcome assessed, and based on product realization. It encompasses the very latest technologies impacting industrial development and taps subjects of high interest to students.”
Sources: UMQuest, IGVC Home Page
IGVC Team 2006
Winning the IGVC
“A fully autonomous unmanned ground robotic vehicle must negotiate around an outdoor obstacle course under a prescribed time while staying within the 5 mph speed limit, and avoiding obstacles on the track.”
Ranking based on: + Time taken + Distance traveled -- Penalties
Penalties incurred by: Obstacle collisions Pothole hits Boundary crossings
IGVC Team 2006
Joint Architecture for Unmanned Systems - JAUS User-Friendly
Simple InterfaceEasy to MaintainE-Stop
Forward-Compatible DesignPlug-and-playCapable of using new hardware or softwareSet to Wireless Standards
Robotic Concept and Development
IGVC Team 2006
Previous Robot
LIDAR
Forward-looking camera
On-board Laptop Computer
Two Wheel Drive
Multiple 12V Battery Power
Supply
IGVC Team 2006
Results from Last Year’s Competition Placed 7th Overall
Vision systems and path-finding worked admirably
Was unable to complete the courseOccasional mistakes by the navigation
softwareCould not climb the moderate inclinesBattery did not last the entire course
IGVC Team 2006
New Plan for the 2006 Competition
Build a new robot As few parts as possible will be reused from the Think
Tank Improve the software and hardware
Advanced algorithms for better object avoidance Vastly improved electrical and mechanical systems Built to JAUS Specifications
Involve engineering students to actualize hardware solutions
IGVC Team 2006
Development Teams for IGVC 2006
Computer Science Vision Systems Movement Control
Mechanical Engineering Propulsion Methods Frame Design
Electrical and Computer Engineering Wireless Capability Power System
IGVC Team 2006
Concept Design for theThink Tank 2
On-board Laptop Computer with Wireless Link
Increased Mobility
Battery, Generator, or Fuel Cell Power
Supply
Easy to Access Hardware Contained in a Reinforced Frame
IGVC Team 2006
Areas of Improvement Over Previous Robot Electronics Extend operating time Provide constant reliable voltage to motors and
other electronics Condense power supply into a single unit
Deep-cycle Battery Gas generator (DC output) Step Up Converter Hydrogen Fuel Cell
Add the E-Stop emergency stop safety feature
IGVC Team 2006
Fuel Cell Concept
1.2 KW DC output – Useable Indoors and Outdoors Safe and Environmentally Friendly Weighs ~ 30-50 lbs ~ 2.5 by 1.5 ft $7,000 cost A single $200 tank could last 6 days of continuous use at
100% load Recommended DC-DC converter to smooth output and
prevent excess power draw from motors
IGVC Team 2006
Fuel Cell Pictures
IGVC Team 2006
Power Options
Deep-cycle Battery Optima Blue-top Battery SC31DM
12 V battery, 12000 W max output, 60 lb, 2.5+ hour run time at 25 Amp Load
Gas generator (DC output) Coleman Sport 1850
12 V DC, 180 W output, 70 lb weight
Honda EU1000i 12 V DC, 100 W output, 30 lb weight
IGVC Team 2006
Wireless Control - Omnex R161 Wireless Receiver
The R161 receiver has 19FET output
One E-Stop output for safe emergency shutdown of power to the output and external circuits
Designed to be switched to ground instead of battery
IGVC Team 2006
Omnex Origa T100 Transmitter
IGVC Team 2006
Omnex Origa T100 Transmitter
Trusted Frequency Hopping Spread Spectrum technology
Maintenance Item- Battery High impact plastic exterior for rugged
environments
Project Results
IGVC Team 2006
Department of Defense Satisfaction
Meets JAUS StandardsUser FriendlyPlug-and-playWireless Capability
Excellent ProductRuggedReliableSafe
IGVC Team 2006
Pedagogical Benefits
Student Development Interdisciplinary interaction Development of a real-world product New ideas and materials available for future senior
project teams
Military Development Provide for a need which currently has no solution Save the lives of our soldiers
IGVC Team 2006
IEEE Issues Economic
Supports one of the major economies of the US - Defense Environmental
Materials have little to no dangerous exhaust Many parts can be reused
Manufacturing Nearly all the materials are off-the-shelf
Ethics Saves lives
Health Exhaust is not dangerous Comes with E-Stop and 5 mile an hour hardware limit
Social Using technology to help soldiers is applauded by society
Legal Materials purchased at educational cost will not be used for commercial purposes.
Thank You For Your Attention
We would like to hear any question, comments or suggestions at this time