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The Bearcat Cub V. Presented June 9, 2012 By William Hilton and Nicholas Vuotto. Outline. Our Team Introduction to the Cub Sensors Last year’s performance Design enhancements Wireless E-stop Wired E-stop Additional enhancements Lane Detection Obstacle Avoidance Conclusions. - PowerPoint PPT Presentation
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The Bearcat Cub V
Presented June 9, 2012By William Hilton and Nicholas Vuotto
Outline• Our Team• Introduction to the Cub• Sensors• Last year’s performance• Design enhancements
– Wireless E-stop– Wired E-stop– Additional enhancements
• Lane Detection• Obstacle Avoidance• Conclusions
Our Team
• University of Cincinnati• Participated all 20 years of IGVC• Currently all undergraduates
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Introduction to the Bearcat Cub• Incremental evolution of last
year’s vehicle• Two deep cycle marine batteries
for power• Segway wheels and gearboxes
for motion• Sensors mounted on mast for
intelligence• Dell laptop to control it all
Sensors
• SICK Lidar• Bumblebee stereovision• Two Sony camcorders• Novatel GPS• HMR Compass• Wheel encoders
Last Year’s Performance
• We qualified!• 1st run: software crashed• 2nd run: E-stop demonstration caused
software crash & full reboot• Fuses in inverter blew preventing further
attempts
Lesson learned: more robustness!
Wireless E-stop
Remote Kill Switch with 2.5x factor of safety!
250 feet
Wired E-stop
New, schematically simpler system.Easier to reset & doesn’t crash code.
Additions Since Report
Since the written report was submitted, the following changes have been made:• Foam safety bumper• Upgraded safety light from parallel port to
USB• Added 100A circuit breaker• And central fuse box• Code stability improvements
Lane Detection• HSV thresholding for color detection• Hough transform to find best line fit
Obstacle Detection• Uses LIDAR and stereovision• Obstacles create virtual repelling forces• Target creates virtual attractive force• Heading determined by summing the
forces
Conclusions
• The same software algorithms as last year:– but better tested!
• Upgrades to the electrical system and the frame to be:– More reliable– Safer
• Competition, here we come!
Thanks to
• Our mentor, Professor Humpert• University of Cincinnati Center for
Robotics Research• IGVC Committee
Questions?