IGVC - History and Description June 8-11, 2007 in Rochester, - - PowerPoint PPT Presentation

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IGVC - History and Description June 8-11, 2007 in Rochester, - - PowerPoint PPT Presentation

Nov 05, 2023 22 likes •438 views

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

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SLIDE 1

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
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SLIDE 2

IGVC - History and Description

  • June 8-11, 2007 in Rochester, Michigan, hosted

by Oakland University

  • Autonomous Ground Vehicle Competition

– Autonomous Challenge – Design Challenge – Navigation Challenge

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SLIDE 3

Organization Chart

  • Recharging
  • Battery
  • Traction
  • Body Material
  • Speed Control
  • Steering
  • E-Stop
  • Motor
  • Software
  • Control
  • Sensor
  • Vision

Navigation Propulsion Power Frame

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SLIDE 4

Camera

  • Requirements

– Lane & Pothole Detection

  • Part Specification

– ImagingSource DFK 21F04 (Firewire)

  • Orientation

– 5.5’ high – Front of vehicle – Tilted downwards approx 60°

Image… http://www.imagingsource.com

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SLIDE 5

Rangefinder

  • Requirements

– Obstacle Detection

  • Part Specification

– SICK LMS 291 (RS-232)

  • Orientation

– 1’ high – Front of vehicle – Horizontal to ground

Image… http://www.sick.com

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SLIDE 6

GPS Unit

  • Requirement

– Give accurate position

  • Magellan DG14 Sensor

– Accuracy: 70 cm (with differential signal) – Interface: serial – Housing w/ prefabricated connections – NMEA protocol

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SLIDE 7

Digital Compass

  • Requirement

– Give accurate heading

  • KVH Azimuth 1000

– Accuracy: 0.5 degree – Serial interface – NMEA protocol

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SLIDE 8

Propulsion

  • Motors Selection

– Weight – Acceleration – Driving wheels – Wheel Radius – Coefficient of rolling friction – Linear and angular speed

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SLIDE 9

Propulsion

OUTPUT SHAFT RPM vs LIN VEL (r = 0.1524m = 6in)

50 100 150 200 250 300 0.4 0.8 1.2 1.6 2 2.4 2.8 3.2 3.6 4 LIN VEL (m/s) Speed Limit = 5mph = 2.234m/s RPM

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SLIDE 10

Torque Required

TORQUE VS VEHICLE WEIGHT

10 12 14 16 18 20 22 24 60 64 68 72 76 80 84 88 92 96 100 W (Kg) Tq (N-m) Ur COEFF= 0.04 Ur COEFF= 0.05 Ur COEFF=0.08 Ur COEFF=0.09 Ur COEFF=0.06

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SLIDE 11

Torque Required

TORQUE VS VEHICLE WEIGHT 17 DEG INCLINE

20 25 30 35 40 45 60 64 68 72 76 80 84 88 92 96 100 W (Kg) Tq (N-m) Ur COEFF=0.06

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SLIDE 12

Propulsion

  • The motor we selected is the NPC R-82
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SLIDE 13

Propulsion

RPM vs.Torque

110 130 150 170 190 210 230 250 1.2 6.4 11.6 17.4 22.3 27.9 32.9 38.0 43.1 48.2

Torque (N-m) RPM

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SLIDE 14

Propulsion

Current vs. Torque

10 20 30 40 50 60 70 80 1.2 6.4 11.6 17.4 22.3 27.9 32.9 38.0 43.1 48.2

Torque (N-m)

Current (amps)

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SLIDE 15

Motor Controller

  • AX3500BP

– Current Requirements

  • Motor current: 40 A
  • Max continuous controller current: 60 A

– Serial-to-PWM converter – Controls both motors – Accepts feedback – PID control

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SLIDE 16

Control Loop - Block Diagram

CPU AX3500BP Motor 1 Motor 2

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SLIDE 17

Traction and Steering

  • Requirements

– Low cost – Reliability – Low weight – Low turning radius – Max speed of 5 mph – Stability – Good traction in grass and sand

  • Solutions

– Four wheels with rack and pinion steering – Track with differential steering – Wheels with differential steering (Chosen)

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SLIDE 18

Traction and Steering

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SLIDE 19

Power System Design

  • Batteries

– 6 Powersonic Sealed Lead-Acid Batteries – Calculated battery life = 3 Hours

  • Charging

– 2 Battery Tender Multibank Chargers

  • Monitoring

– Serial Voltmeter Software

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SLIDE 20

Power System Layout

24V Battery Bank for Motors 12V/24V Battery Bank for Sensing and Processing Motors 24V Variable Power Box for Electrical Wiring, Fuses, Converter, and Regulator Camera 12V 11.28W Laser Range Finder 24V 20W Computer 12V 90W Digital Compass 12V 0.1W GPS Unit 12V 3.7W

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SLIDE 21

Frame Design

Material

  • Strength
  • Elasticity (bending deflection)
  • Cost
  • Weight
  • Weldability

Design

  • Layout
  • Dimension Requirements
  • Water Resistance
  • Center of Gravity
  • Component Mounting
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SLIDE 22

Frame Design

ANSI 1020

  • Yield Strength ~ 51,000 psi

– Maximum stress on vehicle is 4,700 psi – Lowest FOS = 10.7

  • Cost Efficient

Coated Polyester

  • Lightweight
  • Breathable
  • Inexpensive
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SLIDE 23

Component Positioning

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SLIDE 24

Component Positioning

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SLIDE 25

Component Positioning

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SLIDE 26

Component Positioning

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SLIDE 27

Component Positioning

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SLIDE 28

Component Positioning

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SLIDE 29

FEA - Stress and Deformation

Maximum Stress = 4,700 psi Average Stress = 2,300 psi

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SLIDE 30

FEA - Stress and Deformation

Maximum Deflection = 0.023 in Average Deflection = 0.012 in

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SLIDE 31

Processing

  • Personal Computer
  • GPU Acceleration
  • OpenVIDIA Graphics Library
  • C Programming Language
  • Multithreading
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SLIDE 32

Processing

GPS

Compass Rangefinder

Camera Motor Controller Monitor Keyboard Motor Encoder

Computer

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SLIDE 33

Software Flow Chart

Initial State Gather data Camera

Rangefinder

GPS Unit Compass Store Data

Get Direction Move Vehicle

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SLIDE 34

Navigation Algorithm

Gather data from sensors Identify target directions Process GPS coordinates Determine heading correction Send direction to motor controllers

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SLIDE 35

Lane & Pothole Detection

  • Capture image from camera
  • Convert image to B/W
  • Downscale image
  • Detect white pixel chains
  • Detect white pixel areas
  • Determine direction
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SLIDE 36

Obstacle Detection

  • Get image from rangefinder
  • Determine distance to obstacles
  • Determine optimal direction
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SLIDE 37
  • RF Communication

– 433MHz – 250ft

Emergency Stop

Transmitter Receiver Transmitter Receiver E-Stop Motors

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SLIDE 38

Budget

Category Part Cost Category Total

Navigation LRF 6,000 Camera 250 GPS 3,700 Compass 400 10,350 Power Batteries 310 310 Propulsion Wheels 300 Motors 1,050 1,350 Frame Tubing 70 70 Processing On-Board CPU 1,185 1,185 TOTAL ~13,500

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SLIDE 39

AGV - Past Competitions

Images… http://www.igvc.org/photos.html

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SLIDE 40

Summary

  • Navigation

– Camera – Laser rangefinder – Differential GPS Unit – Central Processing Unit

  • Propulsion

– DC motors – Wheels

  • Power

– Rechargeable efficient batteries

  • Frame

– Strong, light material

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SLIDE 41

Questions / Suggestions

  • Contact area experts

– Navigation -Vision Anshul Tandon – Navigation - GPS Eric Leefe – Propulsion Ivan Bolanos – Propulsion Wilfredo Caceres – Power Brian Aidoo – Frame Donald Lee Hardee – Processing Brandon Nason Sponsors: