Intelligent Ground Vehicle Competition LTU Senior Project

1. Intelligent Ground Vehicle CompetitionLTU Senior Project Presenting October 21st Nathaniel Johnson Jacob Bushon Timothy Helsper Danielle Johnson MaryGrace Janas

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 ismultidisciplinary, 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. 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

9. 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

10. 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

11. 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

12. 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

13. 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 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

14. Fuel Cell Pictures IGVC Team 2006

15. Power Options • Deep-cycle Battery • Optima Blue-top Battery SC31DM • 12 V battery, 12000 W max output, 60 lb, 2.5+ hour run time at 25 Amp Load • Gas generator (DC output) • Coleman Sport 1850 • 12 V DC, 180 W output, 70 lb weight • Honda EU1000i • 12 V DC, 100 W output, 30 lb weight IGVC Team 2006

16. Wireless Control - Omnex R161 Wireless Receiver • The R161 receiver has 19FET output • One E-Stop output for safe emergency shutdown of power to the output and external circuits • Designed to be switched to ground instead of battery IGVC Team 2006

17. Omnex Origa T100 Transmitter IGVC Team 2006

18. Omnex Origa T100 Transmitter • Trusted Frequency Hopping Spread Spectrum technology • Maintenance Item- Battery • High impact plastic exterior for rugged environments IGVC Team 2006

19. Project Results

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

21. 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

22. IEEE Issues • Economic • Supports one of the major economies of the US - Defense • Environmental • Materials have little to no dangerous exhaust • Many parts can be reused • Manufacturing • Nearly all the materials are off-the-shelf • Ethics • Saves lives • Health • Exhaust is not dangerous • Comes with E-Stop and 5 mile an hour hardware limit • Social • Using technology to help soldiers is applauded by society • Legal • Materials purchased at educational cost will not be used for commercial purposes. IGVC Team 2006

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