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
• 15th 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

• EStop
• Motor
• Steering
• Speed Control
• Traction
• Body Material
• Recharging
• Battery
• Software
• Control
• Sensor
• Vision

Navigatio n Power Propulsio n Frame

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

• Low Cost
• Reliability
• Stability
• Power delivery efficiency
• Good traction
• Zero-turn radius
• Low weight
• Ease of manufacture

Possible Solutions

• 2 Powered wheels and 1

caster wheels

• 2 Powered wheels and 2

caster wheels

• Tracks
• 4WD with rack and pinion

steering of 1 axle

• 4WD with rack and pinion

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

OCT ‘06

• Continue researching details
• Acquire funding and sponsors

NOV ‘06

• Determine optimal solutions
• Determine testing strategy

DEC ‘06

• Order parts and materials
• Device automation algorithms
• Present overall design solution

SPR ‘07

• Acquire parts
• Assemble, interface, and code
• 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?