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Introduction

Introduction Background and Marketing – Ben Kuhlman Robot – Troy Wohlfert Global Positioning System – Laura O’Rear LADAR – Stephen Sherman System Design – Matt Knollman Navigation and Control – Alex Hain Markets for Our Product One-Third of all military vehicles by 2015

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Introduction

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Presentation Transcript

  1. Introduction • Background and Marketing – Ben Kuhlman • Robot – Troy Wohlfert • Global Positioning System – Laura O’Rear • LADAR – Stephen Sherman • System Design – Matt Knollman • Navigation and Control – Alex Hain

  2. Markets for Our Product • One-Third of all military vehicles by 2015 • Current Military Applications • Future Applications • Detection, Heavy Combat, Monitoring • Possible Civilian Applications • Agriculture, Materials Handling, Mass Transportation, Automobile enhancement

  3. Robotics Development • Current Civilian Applications • AGVs, Robotic Arms, Smart Appliances. • Automated Highway Systems Disappointment • National Automated Highway System Consortium • Challenges for the Future of Robotics

  4. DarpaDefense Advanced Research Project Agency • Department of Defense • Armed forces a decisive edge • Grand Challenge • Race between Barstow and Las Vegas • $1 Million Prize • Rough Terrain • fencing • water • bushes

  5. ATRV-2 • Manufactured by IRobot • Off-Road capabilities • 220 lbs load capacity • 2 m/s maximum speed • Application for Darpa

  6. Global Positioning System (GPS) • How GPS Works: • 24 satellites broadcast on two frequencies: • L1 (1575.42 MHz), C/A code and P(Y) code • L2 (1227.60 MHz), P(Y) code • P(Y) code • C/A code • Pseudo-random Noise • Contains almanac of satellite (SV) positions • Contains ephemeris, SV position corrections • Distance (from SV) = Velocity x Time • Velocity is approx. the speed of light 3.0*108 m/sec • Time is the delay needed to match pseudo-code • Trilateration (for position calculation) • Requires min. of 4 satellites • Four equations with four unknowns www.garmin.com

  7. NovAtel Propak-LB-L1/L2 Receiver 10 cm level accuracy, 10 Hz 30 ~ 50 sec acquire time 3.7 Watts, 7 to 15 V DC input Output 3 RS-232 serial PPS (pulse per second) Rugged design NovAtel GPS-600-LB Antenna Tracks SVs up to 15° below horizon GPS Application

  8. LADAR LAser Detection And Ranging How it works ]

  9. LADAR • Our Model: Sick LMS 30206 • Specs • Range: 80m • Angular Resolution: .25o, .5o, 1o (selectable) • Image Resolution: 10mm • large power consumption (20~140 W) • Placement • Front center of ATRV angled Downward

  10. System Overview • Sensor System Tasks • Data acquisition • Signal processing / Filtering • Map generation • Control System Tasks • Path planning • Integration of high and low-level sensor data • Motor control

  11. Computer Hardware Sensor Computer • EPIA PD 1000 • 1 GHz Via C3 CPU • 4 serial ports • Dual Ethernet ports • Small 17cm x 17cm footprint Power Supply • DC-DC converter • 80 Watt output • Wide input voltage range (11-30V) Storage • 512MB Compact Flash card

  12. Software Linux OS • Free (GPL) • Scalable and very powerful Sensor Software • Use existing API to interface with LADAR • Generate virtual map of environment • Client / Server architecture Control Software • Integrate data from LADAR and GPS • Identify obstacles • Generate driving path • Use existing API to interface with ATRV-II GUI (Display Software) • Relay robot position and LADAR map to user • Use Mobility Robot Integration API • Communicate with vehicle via wireless Ethernet link

  13. Navigation and Tracking GPS used for broad view LADAR used for immediate area Brute force used when GPS fails

  14. Diagram of Navigation Control

  15. Conclusion • ATRV-2 test platform • GPS is used for accurate positioning • LADAR is used for object avoidance • Use of multiple computer systems mimics actual DARPA vehicle • Robust and accurate control system • Simple AI, reduced complication

  16. Questions?

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