Autonomous Personal Mobility Scooter for Multi-Class - - PowerPoint PPT Presentation

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Autonomous Personal Mobility Scooter for Multi-Class Mobility-on-Demand Service

Hans Andersen1, You Hong Eng2, Wei Kang Leong2, Chen Zhang2, Hai Xun Kong2, Scott Pendleton1, Marcelo H. Ang Jr1, and Daniela Rus3

1 Department of Mechanical Engineering, National University of Singapore 2 Singapore-MIT Alliance for Research and Technology 3 Massachusetts Institute of Technology

{hans.andersen, scott.pendleton01}@u.nus.edu, mpeangh@nus.edu.sg {youhong, weikang, zhangchen, haixun}@smart.mit.edu rus@csail.mit.edu

November 1, 2016

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Outline

• Introduction
• System Overview
• Experimental Results and Discussions
• Conclusion

Introduction Conclusion

Multi-Class Mobility

Figure: SMART’s Autonomous Vehicle Fleet

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Shared Core Competencies

• Mapping and localization in 3D environment with syn- thetic

2D LIDAR

• Dynamic replanning for online obstacle avoidance
• Moving obstacles detection and tracking
• Intuitive web-based booking system

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Main Contributions

• 1. Design and development of a new autonomous personal

mobility scooter capable for mobility on demand: Compact Size, Maneouvearbilty, Efficient Operations in Crowded Environment

• 2. Adapting our mapping, localization, perception, and planning

capabilities to the scooter platform: Similar sensors and software packages to what has been implemented before, maximizing code re-usability and demonstrating the flexibility

• f our software architecture.
• 3. Extensive experiments and user surveys: Showcased during

MIT’s open house, 99 trips, totalling 7.23 km travelled in autonomous mode.

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Hardware Overview

LIDAR (Mapping & Localization) Monitor Steering Motor LIDAR (Obstacle Detection) Interface Circuit Network Switch Power Distribution Overcurrent Protection Wheel Encoders IMU Control Panel Computer

Self-Driving Mobility Scooter

Emergency Button Batteries

Figure: Hardware overview, highlighting primary retrofit additions to a personal mobility scooter in order to enable autonomous capability

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Specifications

Table: Personal Mobility Scooter Specification

Dimensions (L x W x H) 930 x 485 x 2100 mm Empty Weight 56 Kg Maximum Payload 85 Kg Maximum Speed 8.0 Km/h Maximum Safe Slope 6 Degrees Range 20 Km

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Hardware Overview

Remote E-Stop Input Devices IMU Bottom LIDAR Rotary Encoders Webcam Manual/ Auto/ Pause Buttons Steering Servo Top LIDAR Auxiliary Lead Acid Batteries 2 x 12V, 22Ah Stock Li-Pol Battery 24V, 11.5 Ah DC-DC Converters, Overcurrent Protection and Power Distribution Microcontroller & Interface Board Scooter Motor Controler Ethernet Switch USB Hub Scooter Motor Main Computer (Ubuntu 14.04 + ROS Indigo) Signal Power

Figure: Scooter electrical system connection diagram

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Hardware Overview

Figure: CAD drawings of the scooter’s original motor and wheels assembly(left), and with rotary encoders mounted(right)

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Hardware Overview

Figure: CAD drawings of the scooter’s original steering column assembly(left), and the repositioned steering column with steering servo mounted (right)

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Software Overview

Figure: System Architecture

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Software Overview

Figure: Online booking system for National University of Singapore’s University Town

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Software Overview

Figure: Dynamic Virtual Bumper

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Software Overview

Figure: Perception Visualization

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Experiments

Figure: National University of Singapore University Town

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Experiments

Figure: MIT’s Infinite Corridor

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Experimental Results

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Survey Results

Table: Public Trial Survey Results, with 99 Users Surveyed How much do you know about autonomous vehicles? 2.2/5.0 How safe do you think autonomous vehicles are? 3.5/5.0 How would you rate your experience in terms of SAFETY? 4.6/5.0 How would you rate your experience in terms of COMFORT? 4.5/5.0 Would you ride on this autonomous scooter again? 96% Yes

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Video

https://youtu.be/_6otshNzqqo

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Thank You