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■■ DEMO#1: Manual Teaching Mode, Task Creation, Basic Autonomous RunDEMO#1: Manual Teaching Mode, Task Creation, Basic Autonomous Run
■■DEMO#2: Obstacle Avoidance DemoDEMO#2: Obstacle Avoidance Demo
■■DEMO # 3: Complete reproduction of manual driveDEMO # 3: Complete reproduction of manual drive
■■DEMO#4 : Creation of Route on desk and DemoDEMO#4 : Creation of Route on desk and Demo
Manual/ Teaching/ PDA/ Task creation/ ATV performance(Ride over, slope)/ Autonomous Run/ Mobility
Smooth Avoidance/ Reaction against moving obstacle(Emergent Stop)/ Dead-End reaction/ Remote control/ Return back of mode
Various Speed range/ Learning of Application operation/Easy Teaching
Without Teaching/ Create Route on PC/ Two type of Creation/Calculation route
DEMO SDEMO SCENARIO
DEMO#1: Manual Teaching Mode, Task Creation, Basic DEMO#1: Manual Teaching Mode, Task Creation, Basic Autonomous RunAutonomous Run
There is a van stopped. UGV is contained inside.
Board for getting down has already be put on the ground.
On Base Station, Personal Computer for Monitors, Image Picture Monitor,
Remote Control Switch, and Joy Stick are located.
These equipments can be shown to Customer.
Operator comes in and operate PDA..
UGV gets down automatically, comes and stops to a home position
(engine stops with generator running on).
Operator come back near the HOME position, and stop UGV at the spot where UGV can easily go back to HOME position.
At the second moving obstacle, make a emergent stop,
and wait until obstacle run across, then restart (rerun).
A dead-end obstacle:
UGV send HELP signal to base station.
Base station monitor has a flushing Help sign. Automatically operation mode turns into "Remote control mode"
Return to a regular Route, and Operator at Base station runs UGV
with remote-control watching picture image through Camera.
Like normal ATV running, Operator (Driver) runs UGV with
various speed range, and sometimes make a stop to operate Camera or Light.
UGV returns back to the point near Home position.
Operator parks UGV so that it can moves into Home position easily.
SCEAN CONTENTS1 On Base Station PC, operator turn on "Programming Mode"
and Map information appear on screen.
2 On the Map, Operator create ROUTE:Waypoint click, and then input Speed of each section.
3 Select the way to create ROUTE;"Speed oriented mode" or "Position oriented mode"
4 Calculate the Route, and Final route with connecting "R"is shown. PC ask "OK ? " Operator reply it.
5 Operator create the name of the Route, save it, and transmit it to UGV.
Application Components for DemonstrationApplication Components for Demonstration
Camera -Present Heli system(Fron/Rear camera plus application camera) (option: EyeSee360)
-Use present Heli system
-Apply “Joystick” for Base station/ Vehicle
Search Light -Search Light for Marine use or Police use (ex. PATLITE)
-Put it separate from Head Light
-Move
Voice speeker/Mike/ Tranceiver
-Broadcast Recording Message at the points
-When Base Station Switch On, operator voice is broadcast
-Mike on UGV is always ON
-At Base Station, Volume only
-For Interactive Conversation (ex.PATLITE)
Patrol Light -Just WARNING purpose (ex. PATLITE)
componentsYMC CMU PROTO SHOP YMC CMU PROTO SHOP
vehicle actuatorlower controllerlower controller mountremote control comunication antenna
autonomous sensors sensor mountupper controllerupper controller mountpower supplypower supply mountcomunication antenna
indicator & switchinstrumental panel & switch mount
serveilance equipmentsequipments mountcontrollercontroller mountcomunication antenna
minor modification of ATV fenderfootboardbody bumperequipment tower
UGV assemble & finish
design fablication
Detail size of Laser Scanner and MotorDriver
Detail size of Upper Computer
Detail size ofApplanix computer
Detail size ofDC power Supply
Detail size ofBack-up Power Supply
Still missing:Laser Scanner Driver Camera controllerDC Power supplyBack-up Power Supply
Redesigning front of Body Panel and Head light
Redesigning tail of Body Paneland Tail light
Redesigning camera & antenna mount tower
Detail of Base StationDetail of Base StationPDA -Vehicle ON/ OFF/ STANBY
-Mode switching
-Mode display
-Teaching Operation
-Route Registration(Save)
-Task Creation/ Save
-Start running/ Stop
-Display of Vehicle Information
PC at Base Station
-Display Map Information
-Display Vehicle Information ( position/ speed/ normal_abnormal/ mode)
-Task name/ Task Status
Joystick/
Switch
-Vehicle Operation
Start Engine/Stop/Speed/Steering/ Brake/ Switch for Forward_Rear/
Parking/ operation of Headlight
-Camera Operation (Search Light interlocked movement)
-Mike ON/ Speeker Volume
-Recording Voice Reproduction/Stop
-Search Light ON/OFF
-Patrol Light ON/ OFF
Image Monitor -Display of Image