1 / 15

Navi Rutgers University 2012 Design Presentation

Navi Rutgers University 2012 Design Presentation. Mechanical Design. Entirely custom chassis Designed using SolidWorks 80/20 a luminum framing 0.25” polycarbonate casing 240 lb , including payload Brushed DC drive motors 80 W, 500 CPR optical encoders 5.6 mph maximum speed

niel
Download Presentation

Navi Rutgers University 2012 Design Presentation

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. NaviRutgers University2012 Design Presentation

  2. Mechanical Design • Entirely custom chassis • Designed using SolidWorks • 80/20 aluminum framing • 0.25” polycarbonate casing • 240 lb, including payload • Brushed DC drive motors • 80 W, 500 CPR optical encoders • 5.6 mph maximum speed • 27% maximum grade • Actively air cooled by six fans • 100 cfm airflow through chassis • Modeled using CFD simulation

  3. Electrical: Power Distribution • Optima YellowTop Battery (×2) • 12 V lead acid batteries (in series) • 35 A·h capacity • Low power consumption • 400 W loaded, 215 W idle • 2+ hour battery life • 24 V, 12 V, and 5 V DC buses • 85%+ efficiency DC-DC regulators • Isolated grounds limit noise • Dashboard • Switches for major components • Dot matrix display status indicator

  4. Software Architecture • Use and contribute to open source software when possible • Built on the Robot Operating System (ROS) framework • Three-dimensional Gazebo simulation of driving and sensors Localization Planning Gazebo Gazebo Perception

  5. Gazebo Simulation

  6. Localization: Sensors GPS: Novatel ProPak V3 • 2 Hz sample rate • 15 cm accuracy (1 sigma) • OmniSTAR HP corrections Compass: PNI Fieldforce TCM • 50 Hz sample rate • 0.3° heading accuracy (RMS) • 360° tilt correction Odometry: US Digital Encoders • 500 CPR, 0.5 mm resolution

  7. Localization: Extended Kalman Filter • Fuse sensors to estimate pose • Odometry: fast, relativepose • Compass: fast absolute orientation • GPS: accurate absolute position • Non-linear “turn-drive-turn” model (Source: Probabilistic Robotics) Simulation Hardware

  8. Perception: Sensors Laser: Hokuyo UTM-30LX • 40 Hz sample rate • 240° field of view • 30 m maximum range Cameras: AVT Manta G-125C (×2) • 15 FPS, synchronized • 646 × 482 resolution • 90° × 65° wide angle lens • 130° combined field of view

  9. Perception: Laser Field of View 240°

  10. Perception: Sensors Laser: Hokuyo UTM-30LX • 40 Hz sample rate • 240° field of view • 30 m maximum range Cameras: AVT Manta G-125C (×2) • 15 FPS, synchronized • 646 × 482 resolution • 90° × 65° wide angle lens • 130° combined field of view

  11. Perception: Camera Field of View 20 m

  12. Perception: Line Detection • Uses the HSV color space to limit the impact of illumination • Width filter is generated from the calibrated camera matrix • Pipelined with left and right images processed in parallel • Total processing time is 100 msper image pair • Pipelining allows for a 50% increase in sample rate Width Filter Color Transformation Original Image

  13. Mapping Local Costmap: (10 m)2 • 5 cm square cells; high resolution • Always centered on the robot • Used by the local planner Global Costmap: (1000 m)2 • 25 cm square cells; low resolution • Origin fixed by a GPS coordinate • Used by the global planner • Sensors mark and clear observations • Based on the ROS navigation stack

  14. Planning Global Planner (on demand) • Weighted A* Search • Inverse of distance for <1 m • Constant for ≥1 m Local Planner (20 Hz) • Dynamic Window Approach • 10 linear velocity samples • 15 angular velocity samples

  15. Questions?

More Related