Intelligent Ground Vehicle CompetitionLTU Senior Project

Presenting October 21st

Nathaniel JohnsonJacob BushonTimothy HelsperDanielle JohnsonMaryGrace Janas

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

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 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 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

Power Options

Deep-cycle Battery Optima Blue-top Battery SC31DM

12 V battery, 12000 W max output, 60 lb, 2.5+ hour run time at 25 Amp Load

Gas generator (DC output) Coleman Sport 1850

12 V DC, 180 W output, 70 lb weight

Honda EU1000i 12 V DC, 100 W output, 30 lb weight

IGVC Team 2006

Wireless Control - Omnex R161 Wireless Receiver

The R161 receiver has 19FET output

One E-Stop output for safe emergency shutdown of power to the output and external circuits

Designed to be switched to ground instead of battery

IGVC Team 2006

Omnex Origa T100 Transmitter

IGVC Team 2006

Omnex Origa T100 Transmitter

Trusted Frequency Hopping Spread Spectrum technology

Maintenance Item- Battery High impact plastic exterior for rugged

environments

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

IGVC Team 2006

IEEE Issues Economic

Supports one of the major economies of the US - Defense Environmental

Materials have little to no dangerous exhaust Many parts can be reused

Manufacturing Nearly all the materials are off-the-shelf

Ethics Saves lives

Health Exhaust is not dangerous Comes with E-Stop and 5 mile an hour hardware limit

Social Using technology to help soldiers is applauded by society

Legal Materials purchased at educational cost will not be used for commercial purposes.

Thank You For Your Attention

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