Introduction Ø Background and Marketing – Ben Kuhlman Ø Robot – Troy Wohlfert Ø Global Positioning System – Laura O’Rear Ø LADAR – Stephen Sherman Ø System Design – Matt Knollman Ø Navigation and Control – Alex Hain
Markets for Our Product Ø One-Third of all military vehicles by 2015 ØCurrent Military Applications ØFuture Applications ØDetection, Heavy Combat, Monitoring Ø Possible Civilian Applications ØAgriculture, Materials Handling, Mass Transportation, Automobile enhancement
Robotics Development Ø Current Civilian Applications Ø AGVs, Robotic Arms, Smart Appliances. ØAutomated Highway Systems Disappointment ØNational Automated Highway System Consortium Ø Challenges for the Future of Robotics
Darpa Defense Advanced Research Project Agency Ø Department of Defense Ø Armed forces a decisive edge Ø Grand Challenge Ø Race between Barstow and Las Vegas Ø$1 Million Prize Ø Rough Terrain Ø fencing Ø water Ø bushes
ATRV-2 Ø Manufactured by IRobot Ø Off-Road capabilities Ø 220 lbs load capacity Ø 2 m/s maximum speed Ø Application for Darpa
Ø Global Positioning System (GPS) How GPS Works: Ø 24 satellites broadcast on two frequencies: Ø L 1 (1575. 42 MHz), C/A code and P(Y) code Ø L 2 (1227. 60 MHz), P(Y) code Ø C/A code Ø Pseudo-random Noise Ø Contains almanac of satellite (SV) positions Ø Contains ephemeris, SV position corrections Ø Distance (from SV) = Velocity x Time Ø Velocity is approx. the speed of light 3. 0*108 m/sec Ø Time is the delay needed to match pseudo-code Ø Trilateration (for position calculation) Ø Requires min. of 4 satellites Ø Four equations with four unknowns www. garmin. com
GPS Application Ø Nov. Atel Propak-LB-L 1/L 2 Receiver Ø 10 cm level accuracy, 10 Hz Ø 30 ~ 50 sec acquire time Ø 3. 7 Watts, 7 to 15 V DC input Ø Output Ø 3 RS-232 serial Ø PPS (pulse per second) Ø Rugged design Ø Nov. Atel GPS-600 -LB Antenna Ø Tracks SVs up to 15° below horizon
![LADAR Ø LAser Detection And Ranging Ø How it works ]](https://present5.com/presentation/1e5d5f9285bfaf9f1ed752754094109f/image-8.jpg "LADAR Ø LAser Detection And Ranging Ø How it works ]")
LADAR Ø LAser Detection And Ranging Ø How it works ]
LADAR Ø Our Model: Sick LMS 30206 ØSpecs Ø Range: 80 m Ø Angular Resolution: . 25 o, 1 o (selectable) Ø Image Resolution: 10 mm Ø large power consumption (20~140 W) ØPlacement Ø Front center of ATRV angled Downward
System Overview Sensor System Tasks Ø Data acquisition Ø Signal processing / Filtering Ø Map generation Control System Tasks Ø Path planning Ø Integration of high and low-level sensor data Ø Motor control
Computer Hardware Sensor Computer Ø EPIA PD 1000 – – 1 GHz Via C 3 CPU 4 serial ports Dual Ethernet ports Small 17 cm x 17 cm footprint Power Supply Ø DC-DC converter – 80 Watt output – Wide input voltage range (11 -30 V) Storage Ø 512 MB Compact Flash card
Software Linux OS Ø Free (GPL) Ø Scalable and very powerful Sensor Software Ø Use existing API to interface with LADAR Ø Generate virtual map of environment Ø Client / Server architecture Control Software Ø Integrate data from LADAR and GPS Ø Identify obstacles Ø Generate driving path Ø Use existing API to interface with ATRV-II GUI (Display Software) Ø Relay robot position and LADAR map to user Ø Use Mobility Robot Integration API Ø Communicate with vehicle via wireless Ethernet link
Navigation and Tracking Ø GPS used for broad view Ø LADAR used for immediate area Ø Brute force used when GPS fails
Diagram of Navigation Control
Conclusion Ø ATRV-2 test platform Ø GPS is used for accurate positioning Ø LADAR is used for object avoidance Ø Use of multiple computer systems mimics actual DARPA vehicle Ø Robust and accurate control system Ø Simple AI, reduced complication
Questions?
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