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UUGRV

UUGRV. The CSUF Unmanned Utility Ground Robotic Vehicle Advisor: Dr. Jidong Huang. Goal. Autonomous Robot for daily tasks Precise, efficient, reliable, consistent Apply our research on other robots. Example Applications. Mechanical Design. Use of wooden platform

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UUGRV

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  1. UUGRV The CSUF Unmanned Utility Ground Robotic Vehicle Advisor: Dr. Jidong Huang

  2. Goal • Autonomous Robot for daily tasks • Precise, efficient, reliable, consistent • Apply our research on other robots

  3. Example Applications

  4. Mechanical Design • Use of wooden platform • Use for testing, cheap, easy modifications • Chain Drive • Cheap, easy to switch ratios, robust • Two motors drive with casters • Sharper turns, better control

  5. Controller & Motor • Electric motors • Silent, no pollutions, precise control • Efficient and powerful using neodymium magnets • Torque: 1920 oz-in, 3HP; Light weight: 3.8 lbs. • Dual channels motor controller • Controls two motors simultaneously • Precision driving

  6. Modular Design • Easily disassembled • Transportation, storage, replacements • Wide range of utility modules • Blade, stretchers, brooms,… etc.

  7. Electronic • Single Board Biscuit Computer • Receives signals from sensors • Sends control commands to the microcontroller • Micro Controller • Transform serial signals into PWM • Sends signals to motor controllers • Router for wireless control • Sensors • GPS • IMU • LMS

  8. Control System • Fast Heading response vs accuracy • Adjustable acceleration • Kalman filter • Allowing sensors to compensate each other

  9. High Precision Dynamic Intelligent Obstacle Detection Algorithm(HPDIODA) • Developed for applications that requires high precision obstacle detection and avoidance

  10. No Obstacle Obstacle Detected

  11. Safety • Due to the power of this machine, safety is our first priority • Remote Laptop • Remote Radio Control • Emergency Stop Switch • Indication Light

  12. Work in Progress • Apply tight integration using our IMU and GPS • Manufacture aluminum chassis and carbon fiber protection shell • Implementation of Microsoft Kinect

  13. Heading Demo Video

  14. Acknowledgements 1. CSUF Intramural Funds 2. CSUF ASI IRA Funds 3. Team members: Yeh, Michael; Nguyen Bao;WuTuo; La Roque, Martin; Chen, Jared; El-Laithy, Riyad; Tran, Minh; Lin, XueJin; Woodland, John; Yu, Ivan; Liu, Siwei; Phung, Vy

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