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Intelligent Ground Vehicle CompetitionLTU Senior Project
Presenting to the Kern Foundation
October 21st
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
Previous Competition from Virginia Tech
Gemini 2005 Johnny-5Polaris
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 Development in Computer Software Object Identification
“Primitive” Categorization and Relevance
Hough Transform Genetic Algorithm “Lemmings”
Elimination Binocular Vision
IGVC Team 2006
Areas of Development in Mechanical Engineering
Motion System 3 wheeled 4 wheeled Treaded
Frame and Body Aluminum or Carbon
Fiber Composite Rugged Protection of
Sensitive Electronics
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 dollar 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
Wireless Control
Accessible E-Stop Big Red Buttons located: On the vehicle On a remote control
Remote Control Wireless Access for
Teleoperation and Programming
Development Budget
IGVC Team 2006
Sponsors
BorgWarner Association for Computing Machinery Lawrence Technological University
Computer Science DepartmentEngineering Department
IGVC Team 2006
Projected Supply Costs
Wheel and Motor Assembly
Frame and Body Navigation Equipment Power System Misc. Hardware Total Supply Cost
$550
$1000 $800 $1200 $250 $3800
IGVC Team 2006
Projected Capital Equipment Costs
Hydrogen Fuel Cell GPS Antenna LIDAR MPC Laptop Total Capital Cost
$7000 $0 $0 $0 $7000
IGVC Team 2006
Projected Outside Services and Final Costs The work of talented
and dedicated LTU students
$0
Total Overall Cost - $10,800
Current Funding Available - $5,500
Courtesy of BorgWarner and MCS Department
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
Recommended Links
IGVC Team 2006
Recommended Links
LTU IGVC Homepage http://ltu164.ltu.edu/igvc/
DoD IGVC Homepage http://www.igvc.org/deploy/
University of Mississippi on Unmanned Military Vehicles http://www.olemiss.edu/depts/research/publications/umquest/20
04/Fall/a_mind_of_its_own.html Industry Sponsor BorgWarner
http://www.bwauto.com/ Joint Architecture for Unmanned Systems
http://www.jauswg.org/
Thank You For Your Attention
We would like to hear any question, comments or suggestions at this time
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