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The CarBot Project

The CarBot Project. Group Members: Chikaod Anyikire, Odi Agenmonmen, Robert Booth, Michael Smith, Reavis Somerville ECE 4006 November 29 th 2005. Presentation Outline. Project Overview Management Plan Four core tasks Cost Analysis Market Analysis Conclusion. Project Overview.

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The CarBot Project

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  1. The CarBot Project Group Members: Chikaod Anyikire, Odi Agenmonmen, Robert Booth, Michael Smith, Reavis Somerville ECE 4006 November 29th 2005

  2. Presentation Outline • Project Overview • Management Plan • Four core tasks • Cost Analysis • Market Analysis • Conclusion

  3. Project Overview • Objective: To develop an autonomous vehicle that travels from point A to B • Features of an autonomous vehicle • Detect and react to traffic lights • Change lanes to maneuver around obstacles • This project will pave the way for significant advancements in transportation and provide a service that will revolutionize the way people travel.

  4. Management Plan • The management plan consisted of three phases. • Planning and Strategy • Four Core Tasks • Traffic Light • Cmucam • Robot Integration • Robot Coding • Final Testing

  5. Planning and Strategy • Implement a small scale simulation of a autonomous vehicle • Preliminary Design Decisions • What robot to use as a vehicle? • Mekatronics Talrik II • What camera to use for detections? • CMUcam v1.0 vs. CMUcam v2.0

  6. Traffic Light Implementation • Determine the best traffic light solution (Bulb vs. LED)

  7. LED Versus Bulb (cont.) • LED was the obvious winner in all facets of our requirements.

  8. Traffic Light Circuit

  9. CMUCam • Track the position and size of a colorful or bright object • Measure the RGB statistics of an image region • Automatically acquire and track the first object it sees • On-board real-time vision processing • RS232 interface • RX – Receive • TX - Transmit

  10. Camara Integration • Motorola 68HC11 • Serial Peripheral Interface (SPI) • Devices communicate using a master/slave relationship • Synchronous serial data link that operates in full duplex • MOSI – Master Out Slave In • MISO – Master In Slave Out • CLK – Clock • CMUcam is a SX28 microcontroller • Interfaced with a OV6620 Omnivision CMOS camera • Serial Port • Pin 2 – PC Receive/Scenix Transmit • Pin 3 – Scenix Receive/PC Transmit • Pin 5 – Ground

  11. CMUcam Implementation • External Circuit Solution • Max3100 to convert the SPI signals to rs232 signals • Oscillator to ensure that both the interfaces are operating at the same frequency • Software Setup Solution • C code needed for the microcontroller to communicate with CMUcam • Sets up timing parameters (i.e. baud rate: 9600), etc. • Interprets the data from the camera to control robot movement

  12. 3 IR detectors 6 IR LEDS ICC Programming environment SPI interfaces with camera Left/Right Motor Robot Integration

  13. Design Problem: several robot movement problems Solution: error algorithm to prevent robot from pulling left or right Stay Straight Algorithm

  14. Change Lanes

  15. Traffic Light Detection • The cmucam will constantly alternate being tracking colors yellow, red, and green. • Several cases that the robot will encounter

  16. Final Testing • Creating a course to test the autonomous robot • Finalizing integration of camera and microcontroller • Debugging problems in robot movement algorithms

  17. Cost Analysis • Estimated costs of car camera system 1/8 size • Total non-recurring cost of $980,000 • R&D will be the significant portion of initial costs estimated to be $700,000 • The return on this investment will be substantial when a working model is produced. • The initial investment in this technology will be large because the system has to be reliable, safe, and cost effective. • This is an unique technology, and it is difficult to estimate the initial market demand.

  18. Market Analysis • This product has the potential to revolutionize the way people travel • Several cases where automated driving could prevent an impaired driver from operating a vehicle • This is a unique product, and being able to introduce it into the automotive industry first will lead to huge technological advantage over possible competitors, and large revenue over time

  19. Real World Applications • Pedestrian detection • Lane following • “Blind spot” detection • Parking aids • The Handicapped • Driver assistance – will be interchangeable with the user • Military

  20. Questions Are there any questions?

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