Autonomous People Mover Final Demo/Review

MSD 2

The TeamMember Role Program

Nathan Biviano Project Manager & Integration IE

Madeleine Daigneau Software Design & Hierarchy CE

James Danko Controls Integration EE

Connor Goss Microcontroller Integration CE

Austin Hintz Camera & Sensor Integration EE

Sam Kuhr Power Systems EE

Benjamin Tarloff Engineering Lead & Mounting ME

Project OverviewThe purpose of this project was to create a self driving golf cart so that RIT can re-

enter the autonomous research field. Building upon the remote control functionality of Phase 1, Phase 2 created a foundation for autonomous drive using ROS and sensors.

Requirements

Project Status

Controls• Remote integration with Throttle/Braking/Steering• Steering uses differential voltage in order to steer in each direction (i.e. Left turn

= 3.5V and .6V)• Braking uses servo motor controller, servos move (0° to 180°, 0° to extend, 90°

to do nothing, and 180° to pull)• Throttle uses voltages between 0 and 3.3V to determine speed for the cart. 0V is

0mph and 3.3V is 12mph

Remote Integration• Remote controller sends 1ms to 2ms pulses to receiver• Throttle and braking is the THRO output on the receiver• Steering is the AILE output on the receiver• Estop uses the GEAR Port on the receiver• Auto Manual switch uses the Aux1 port on the receiver

Sensors• Velodyne Puck• Ultrasonics• Cameras• ROS Nodes

BudgetTeam BUDGET 9000.00

Date Vendor Faculty Review Description Amount8/6/2015 DigiKey Ptucha DC Convert ISO 403.25

8/24/2015 Velodyne Ptucha Element Sensor 8,014.00

9/9/2015 Connectors Pro (Amazon) Ptucha PCB Mount 11.51

9/9/2015 Sparkfun Ptucha Screw Terminals 18.47

9/14/2015 Amazon (Partial Shipment 2 Invoices) Ptucha

Ethernet Cables, HDMI Cable, 5Port Gigabit Switch, Alarm Sound Buzzer (includes tax refund)

79.40

9/14/2015 Amazon (Partial Shipment 2 Invoices) Ptucha LED Panel Displays 12.20

9/21/2015 Sparkfun Ptucha screw terminals 14.589/28/2015 BuyMetal Ptucha 48" Tube 43.7510/19/2015 Amazon refund for returned HDMI cable -1.25

10/26/2015 Online Metals Ptucha 12 x 36 inc sheet 55.7010/27/2015 DigiKey Ptucha connectors 17.48

11/3/2015 Amazon Ptucha cables 23.99

11/5/2015 Mouser Ptucha Omron Switch Contact Blocks 35.78

11/6/2015 DigiKey Ptucha Misc. Parts 11.51

11/16/2015 DigiKey Ptucha Misc. Parts 6.34

11/16/2015 DigiKey Ptucha Returned Part -3.84

11/16/2015 DigiKey Ptucha Shipping for returned part 11.87

11/19/2015 Misc. Vendors Kaemmerlen Reimbursement - Connor Goss 92.17Remaining Balance 153.09

Lessons Learned• Redesign is better than repurposing• Choose the microcontroller right for the project• Perform testing right away• Needed to plan better for unforeseen risks • Make sure you truly understand a system before getting it passed to you• Good documentation can save a lot of time• Communication is really important• Everything takes twice as long as you think it will take• Decisions based on short vs. long term benefits are very difficult and different

Accomplishments• Repainted & added decals to Cart• Painted Enclosure• Enclosure mounted, lighted, and wired• Implemented future proof power system

• 12V Battery mounted inside cart• Switch for Steering/Braking Power

• Configured & mounted computer• Created ROS framework/GUI• LiDAR Data Processing• Selected & Purchased Sensors• Clear Documentation• Improved understanding of cart functionality both system level and wholistically

Autonomous People Mover Final Demo/ReviewThe TeamProject OverviewRequirementsProject StatusControlsRemote IntegrationSensorsBudgetLessons LearnedAccomplishments