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Title:

TEAM INITECH

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Automated Vehicle Control Systems. Will Greatly Reduce Traffic Congestion ... Big-wheeled robot. Computers. ION vehicle. LADAR. To be purchased: Serial Cable $14 ... – PowerPoint PPT presentation

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Provided by: edwardh9
Learn more at: http://www.ece.osu.edu
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Title: TEAM INITECH


1
TEAM INITECH
  • DARPA Grand Challenge

2
TEAM INITECH
  • Context
  • Currently an OSU team is involved in creating an
    autonomous off road vehicle to be used in the
    DARPA Grand Challenge.
  • Primary Goal and Scope
  • To create a LADAR based sensor system to detect
    the presence of fences on the DARPA Grand
    Challenge course.

3
Presentation Outline
  • Introduction/Problem Statement Steve Wise
  • Market Research Ed Weaver
  • Sensor Justin Moon
  • Software Ryan Bokman
  • Vehicle Jason Crawford
  • Schedule/SOW/Cost Charles Phillips
  • Conclusion

4
Market Research
  • Automated Vehicle Control Systems
  • Will Greatly Reduce Traffic Congestion
  • Will Reduce number of Collisions
  • No Marketable Solution
  • Limited Compensation for Accident Control

5
Grand Challenge
  • Encourage innovative AVCS design
  • Competition is a Self Marketing Event
  • Less funding is needed for marketing purposes
  • More funding can be placed towards research
  • Winning the competition can result in Name Brand
    recognition

6
Why Concentrate on LADAR?
  • 2004 Competition Results
  • Only Nine Vehicles Started
  • Team TerraMax was one of them
  • Two of the Five where caught on Barb Wire
  • Smaller Vehicle for 2006
  • Will be Vulnerable to Barb Wire

7
Function of LADAR
  • Emits a sequence of pulsed laser beams
  • Beam reflected when contacts object
  • Reflection detected by the scanners receiver
  • Distance a (Time Received)-(Time Emitted)

8
Dimensions Durability
  • (194x352x266) mm
  • Weight 9 kg
  • Enclosure Rating IP 67
  • Resistance to dust, moisture, and temporary
    immersion in water.
  • Ambient Operating Temperature
  • -30 to 50 C
  • Average desert temperature 20-25 C
  • Maximum ranges from 43.5-49 C

9
Data Collection
  • Sensor Data (3 Fields)
  • Horizontal Position, Vertical Position,
    Intensity (Reflected Amplitude)
  • Data Interface RS-422 or RS-232
  • 12 to 26 Pin Connection
  • Accepts I/O from Sensor and Computer

10
From LADAR to Stereo Vision
11
LADAR Capabilities
  • Horizontal Angle
  • 100 to 180
  • Angular Resolution
  • .25,.5, or 1
  • Response Time
  • 52, 26, or 13 ms.
  • Vertical Angle 15
  • Viewing Radius 150 m
  • Width Resolution 10mm

SIDE VIEW
TOP VIEW
12
Computer Software System
  • Responsibilities of the software system
  • Receive data from LADAR sensor.
  • Search data for rectangular shapes that could be
    fence posts.
  • Determine if a fence may exist based on perceived
    fence post shapes.
  • Approximate the angle of approach and distance to
    the fence.
  • Inform the Path Planner of the position and
    orientation of the fence.

13
Fence Directly in Front
  • Fence posts will be approximately evenly spaced.
  • Fence posts will appear to be the same size.
  • Calculating angle of approach and distance should
    be relatively simple.

14
Fence at an Angle
  • Fence posts will be proportionally spaced.
  • Fence posts will also be proportional in size.
  • Calculating angle of approach and distance will
    require some geometry.

15
Non-uniform Fence
  • The tricky situation is a fence that does not
    follow a straight path.
  • Fence will be broken into two fences by computer.
  • Position and angle of approach are computed
    separately for each fence and sent to the Path
    Planner.

16
Vehicle
  • Polaris Ranger 6x6
  • 41 mph top speed
  • 7.2" ground clearance
  • 32.2 gal gas tank
  • 250 W alternator
  • 1,000 lbs. box capacity
  • 27" water depth clearance

17
Test Vehicle ATRV Robot
  • Motor 2 high torque 24V DC Servo
  • Drive 4-wheel differential
  • Weight 50kg (110 lbs)
  • Payload 25kg (55.1 lbs)
  • Batteries Lead Acid, 720W-hr total
  • Run Time 3-5 hrs, terrain dependent

18
Facilities
  • Prof. Özgüners Lab
  • Electrical Engineering Computer Labs
  • Science and Engineering Library
  • Various areas around campus
  • weather permitting
  • Hallways in Caldwell Laboratory

19
Equipment
  • SICK LADAR unit
  • Big-Wheeled Robot
  • Different types of fences
  • PC

20
Schedule
21
Costs
  • Many items are already purchased.
  • Big-wheeled robot
  • Computers
  • ION vehicle
  • LADAR
  • To be purchased
  • Serial Cable
  • 14
  • Barbed wire fencing
  • 25/30ft.
  • Fence posts
  • 10 ea.

22
Statement of Work
  • Team Initech will develop and test a LADAR based
    sensor system for fence recognition.
  • Professor Özgüners group will supply facilities
    and equipment.
  • Tasks
  • 582 Preliminary Design and Proposal
  • 683 Final Design, Construction, Testing
  • Post 683 Integration into full scale DARPA
    vehicle

23
Questions?
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