Intelligent Ground Vehicle CompetitionLTU Senior Project

Presenting to the Kern Foundation

October 21st

IGVC Team 2006

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

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 is multidisciplinary, 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.”

Sources: UMQuest, IGVC Home Page

IGVC Team 2006

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

Joint Architecture for Unmanned Systems - JAUS User-Friendly

Simple InterfaceEasy to MaintainE-Stop

Forward-Compatible DesignPlug-and-playCapable of using new hardware or softwareSet to Wireless Standards

Robotic Concept and Development

IGVC Team 2006

Previous Robot

LIDAR

Forward-looking camera

On-board Laptop Computer

Two Wheel Drive

Multiple 12V Battery Power

Supply

IGVC Team 2006

Previous Competition from Virginia Tech

Gemini 2005 Johnny-5Polaris

IGVC Team 2006

Results from Last Year’s Competition Placed 7th Overall

Vision systems and path-finding worked admirably

Was unable to complete the courseOccasional mistakes by the navigation

softwareCould not climb the moderate inclinesBattery did not last the entire course

IGVC Team 2006

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

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

Concept Design for theThink Tank 2

On-board Laptop Computer with Wireless Link

Increased Mobility

Battery, Generator, or Fuel Cell Power

Supply

Easy to Access Hardware Contained in a Reinforced Frame

IGVC Team 2006

Areas of Development in Computer Software Object Identification

“Primitive” Categorization and Relevance

Hough Transform Genetic Algorithm “Lemmings”

Elimination Binocular Vision

IGVC Team 2006

Areas of Development in Mechanical Engineering

Motion System 3 wheeled 4 wheeled Treaded

Frame and Body Aluminum or Carbon

Fiber Composite Rugged Protection of

Sensitive Electronics

IGVC Team 2006

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

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 dollar 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

Fuel Cell Pictures

IGVC Team 2006

Wireless Control

Accessible E-Stop Big Red Buttons located: On the vehicle On a remote control

Remote Control Wireless Access for

Teleoperation and Programming

Development Budget

IGVC Team 2006

Sponsors

BorgWarner Association for Computing Machinery Lawrence Technological University

Computer Science DepartmentEngineering Department

IGVC Team 2006

Projected Supply Costs

Wheel and Motor Assembly

Frame and Body Navigation Equipment Power System Misc. Hardware Total Supply Cost

$550

$1000 $800 $1200 $250 $3800

IGVC Team 2006

Projected Capital Equipment Costs

Hydrogen Fuel Cell GPS Antenna LIDAR MPC Laptop Total Capital Cost

$7000 $0 $0 $0 $7000

IGVC Team 2006

Projected Outside Services and Final Costs The work of talented

and dedicated LTU students

$0

Total Overall Cost - $10,800

Current Funding Available - $5,500

Courtesy of BorgWarner and MCS Department

Project Results

IGVC Team 2006

Department of Defense Satisfaction

Meets JAUS StandardsUser FriendlyPlug-and-playWireless Capability

Excellent ProductRuggedReliableSafe

IGVC Team 2006

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

Recommended Links

IGVC Team 2006

Recommended Links

LTU IGVC Homepage http://ltu164.ltu.edu/igvc/

DoD IGVC Homepage http://www.igvc.org/deploy/

University of Mississippi on Unmanned Military Vehicles http://www.olemiss.edu/depts/research/publications/umquest/20

04/Fall/a_mind_of_its_own.html Industry Sponsor BorgWarner

http://www.bwauto.com/ Joint Architecture for Unmanned Systems

http://www.jauswg.org/

Thank You For Your Attention

We would like to hear any question, comments or suggestions at this time