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TEAM INITECH
DARPA Grand Challenge
TEAM INITECH
ContextCurrently an OSU team is involved in creating an autonomous off road vehicle to be used in the DARPA Grand Challenge.
Primary Goal and ScopeTo create a LADAR based sensor system to detect the presence of fences on the DARPA Grand Challenge course.
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
Market ResearchAutomated Vehicle Control Systems
Will Greatly Reduce Traffic Congestion
Will Reduce number of Collisions
No Marketable SolutionLimited Compensation for Accident Control
Grand ChallengeEncourage 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
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 WireSmaller Vehicle for 2006
Will be Vulnerable to Barb Wire
Function of LADAR Emits a sequence of pulsed laser beams
Beam reflected when contacts object
Reflection detected by the scanner’s receiver
Distance α (Time Received)-(Time Emitted)
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° CAverage desert temperature: 20-25° C Maximum ranges from 43.5-49° C
Data Collection
Sensor Data (3 Fields) [ Horizontal Position, Vertical Position, Intensity (Reflected Amplitude)]
Data Interface: RS-422 or RS-23212 to 26 Pin Connection
Accepts I/O from Sensor and Computer
From LADAR to Stereo Vision
LADAR CapabilitiesHorizontal 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
TOPVIEW
SIDEVIEW
Computer Software SystemResponsibilities 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.
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.
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.
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.
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
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
Test Vehicle: ATRV Robot
Facilities
Prof. Özgüner’s Lab
Electrical Engineering Computer Labs
Science and Engineering Library
Various areas around campusweather permitting
Hallways in Caldwell Laboratory
EquipmentSICK LADAR unit
Big-Wheeled Robot
Different types of fences
PC
Schedule
CostsMany 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.
Statement of Work
Team Initech will develop and test a LADAR based sensor system for fence recognition.Professor Özgüner’s group will supply facilities and equipment.Tasks
582: Preliminary Design and Proposal683: Final Design, Construction, TestingPost 683: Integration into full scale DARPA vehicle
Questions?