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Intelligent Ground Vehicle Competition LTU Senior Project

Intelligent Ground Vehicle Competition LTU Senior Project. Presenting to the Kern Foundation October 21 st. What is the Intelligent Ground Vehicle Competition about?. University project teams Unmanned, unguided, independently acting robotic ground vehicles Navigation and obstacle avoidance

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Intelligent Ground Vehicle Competition LTU Senior Project

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  1. Intelligent Ground Vehicle CompetitionLTU Senior Project Presenting to the Kern Foundation October 21st

  2. 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

  3. 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.” IGVC Team 2006 Sources: UMQuest, IGVC Home Page

  4. 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

  5. Joint Architecture for Unmanned Systems - JAUS • User-Friendly • Simple Interface • Easy to Maintain • E-Stop • Forward-Compatible Design • Plug-and-play • Capable of using new hardware or software • Set to Wireless Standards IGVC Team 2006

  6. Robotic Concept and Development

  7. Previous Robot Forward-looking camera On-board Laptop Computer LIDAR Multiple 12V Battery Power Supply Two Wheel Drive IGVC Team 2006

  8. Previous Competition from Virginia Tech Gemini 2005 Polaris Johnny-5 IGVC Team 2006

  9. Results from Last Year’s Competition • Placed 7th Overall • Vision systems and path-finding worked admirably • Was unable to complete the course • Occasional mistakes by the navigation software • Could not climb the moderate inclines • Battery did not last the entire course IGVC Team 2006

  10. 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

  11. 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

  12. Concept Design for theThink Tank 2 Battery, Generator, or Fuel Cell Power Supply On-board Laptop Computer with Wireless Link Increased Mobility Easy to Access Hardware Contained in a Reinforced Frame IGVC Team 2006

  13. Areas of Development in Computer Software • Object Identification • “Primitive” Categorization and Relevance • Hough Transform • Genetic Algorithm • “Lemmings” Elimination • Binocular Vision IGVC Team 2006

  14. Areas of Development in Mechanical Engineering • Motion System • 3 wheeled • 4 wheeled • Treaded • Frame and Body • Aluminum or Carbon Fiber Composite • Rugged Protection of Sensitive Electronics IGVC Team 2006

  15. 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

  16. 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 dollar 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

  17. Fuel Cell Pictures IGVC Team 2006

  18. Wireless Control • Accessible E-Stop Big Red Buttons located: • On the vehicle • On a remote control • Remote Control • Wireless Access for Teleoperation and Programming IGVC Team 2006

  19. Development Budget

  20. Sponsors • BorgWarner • Association for Computing Machinery • Lawrence Technological University • Computer Science Department • Engineering Department IGVC Team 2006

  21. Wheel and Motor Assembly Frame and Body Navigation Equipment Power System Misc. Hardware Total Supply Cost $550 $1000 $800 $1200 $250 $3800 Projected Supply Costs IGVC Team 2006

  22. Hydrogen Fuel Cell GPS Antenna LIDAR MPC Laptop Total Capital Cost $7000 $0 $0 $0 $7000 Projected Capital Equipment Costs IGVC Team 2006

  23. The work of talented and dedicated LTU students $0 Projected Outside Services and Final Costs Total Overall Cost - $10,800 Current Funding Available - $5,500 Courtesy of BorgWarner and MCS Department IGVC Team 2006

  24. Project Results

  25. Department of Defense Satisfaction • Meets JAUS Standards • User Friendly • Plug-and-play • Wireless Capability • Excellent Product • Rugged • Reliable • Safe IGVC Team 2006

  26. 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

  27. Recommended Links

  28. Recommended Links • LTU IGVC Homepage • http://ltu164.ltu.edu/igvc/ • DoD IGVC Homepage • http://www.igvc.org/deploy/ • University of Mississippi on Unmanned Military Vehicles • http://www.olemiss.edu/depts/research/publications/umquest/2004/Fall/a_mind_of_its_own.html • Industry Sponsor BorgWarner • http://www.bwauto.com/ • Joint Architecture for Unmanned Systems • http://www.jauswg.org/ IGVC Team 2006

  29. Thank You For Your Attention We would like to hear any question, comments or suggestions at this time

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