UUGRV
UUGRVThe CSUF Unmanned Utility Ground Robotic Vehicle
Advisor: Dr. Jidong Huang
GoalAutonomous Robot for daily tasksPrecise, efficient,
reliable, consistent
Apply our research on other robots
Example Applications
Mechanical Design
Use of wooden platformUse for testing, cheap, easy
modifications
Chain DriveCheap, easy to switch ratios, robust
Two motors drive with castersSharper turns, better control
Controller & Motor
Electric motorsSilent, no pollutions, precise controlEfficient
and powerful using neodymium magnetsTorque: 1920 oz-in, 3HP; Light
weight: 3.8 lbs.
Dual channels motor controllerControls two motors
simultaneouslyPrecision drivingModular Design
Easily disassembledTransportation, storage, replacements
Wide range of utility modulesBlade, stretchers, brooms, etc.
Electronic
Single Board Biscuit ComputerReceives signals from sensors Sends
control commands to the microcontroller Micro ControllerTransform
serial signals into PWMSends signals to motor controllersRouter for
wireless controlSensorsGPSIMULMSControl SystemFast Heading response
vs accuracyAdjustable acceleration
Kalman filterAllowing sensors to compensate each other
High Precision Dynamic Intelligent Obstacle Detection
Algorithm(HPDIODA)Developed for applications that requires high
precision obstacle detection and avoidance
No Obstacle Obstacle Detected SafetyDue to the power of this
machine, safety is our first priority
Remote Laptop
Remote Radio Control
Emergency Stop Switch
Indication LightWork in ProgressApply tight integration using
our IMU and GPSManufacture aluminum chassis and carbon fiber
protection shellImplementation of Microsoft Kinect
Heading Demo Video
1. CSUF Intramural Funds2. CSUF ASI IRA Funds3. Team
members:Yeh, Michael; Nguyen Bao;Wu Tuo; La Roque, Martin; Chen,
Jared; El-Laithy, Riyad; Tran, Minh; Lin, XueJin; Woodland, John;
Yu, Ivan; Liu, Siwei; Phung, Vy
Acknowledgements
