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Tiger Taxi 2.0 MSD-19241 APM Phase VI Build & Test Prep Design Review

Tiger Taxi 2.0 MSD-19241 APM Phase VI Build & Test Prep Design Review. Primary Customer : Dr. Ray Ptucha Faculty Guide : Dr. Alexander Loui. Design Review Agenda. Team Breakdown Current Budget Test Plan Results Navigation Object Avoidance Performance & Handling Problem Tracking.

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Tiger Taxi 2.0 MSD-19241 APM Phase VI Build & Test Prep Design Review

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  1. Tiger Taxi 2.0MSD-19241APM Phase VIBuild & Test Prep Design Review Primary Customer: Dr. Ray Ptucha Faculty Guide: Dr. Alexander Loui

  2. Design Review Agenda • Team Breakdown • Current Budget • Test Plan Results • Navigation • Object Avoidance • Performance & Handling • Problem Tracking • Imagine RIT Proposal • What we need • What we want to show • Locations • Project Plan Tiger Taxi 2.0 – MSD 19241 Design Review #5 Slide #1

  3. Team Project Breakdown Tiger Taxi 2.0 – MSD 19241 Design Review #5 Slide #2

  4. Budget Information • P19241 Purchases: Tiger Taxi 2.0 – MSD 19241 Design Review #5 Slide #3

  5. Quick Overview • Tested various areas of the cart (still more testing left) • Identified several problem areas • Installed new motor controller (Pololu) • Installed new graphics card (2080Ti) • Created preliminary Imagine RIT proposal • Cart is currently at FMS for PM • In contact with VectorNav for GPS upgrade Right Rear Brake Tiger Taxi 2.0 – MSD 19241 Design Review #5 Slide #4

  6. Performance & Handling Test Results • When the APM reaches a navigation goal, no brake command is issued • No brake commands at all in autonomous mode - were removed by previous CE Design team to meet their team requirements and goals. • Coasts to a stop currently after arriving at destination • Throttle issues • Occasionally cuts out in autonomous mode - currently looking into hardware and software possible causes and solutions Tiger Taxi 2.0 – MSD 19241 Design Review #5 Slide #5

  7. Object Avoidance & Detection Test Results • Successfully mapped and traversed autonomously • CE Team contributions worked as expected. • Needs to be more robust and consistent. • Issues Found: • GPS and LOAM don’t agree on location always • Adding AMCL may just add more disagreement in localization • Current map making takes up too much CPU and memory usage. Tiger Taxi 2.0 – MSD 19241 Design Review #5 Slide #6

  8. Object Avoidance & Detection • Global Map • Working on combining Octomap and LOAM to make global map (theoretical solution). • Tuning AMCL to localize on global map (initial yaw). • Solutions to yaw/localization problems • Continue to tune and implement AMCL but except that it may not solve the issue • Return VN-200 for VN-300 (Image taken from: https://www.vectornav.com/docs/default-source/product-brochures/industrial-series-product-brochure-(12-0009).pdf) Tiger Taxi 2.0 – MSD 19241 Design Review #5 Slide #7

  9. Navigation & Pathfinding Test Results • GUI Updates • Currently map scale is off when using the touch screen to select coordinates. • Location point snapping will be added for simplicity. • The Go button will be debugged to allow sending goal dest to ROS. Tiger Taxi 2.0 – MSD 19241 Design Review #5 Slide #8

  10. Problem Tracking Slide #9 Tiger Taxi 2.0 – MSD 19241 Design Review #4 Slide #8

  11. Critical Problem Tracking (Highest Risks) • Initial Localization of cart is wrong (heading) • Potential Solutions: Implement AMCL, Upgrade to new GPS (VN300) • Throttle is not consistently working in autonomous mode • Potential Solutions: Investigating... • Slow brake response time • Potential Solutions: Tighten brake tension, optimize PID, new brake pads • Cart does not send brake commands in autonomous mode • Solution: Write new code to issue brake commands (in ROS not due) Tiger Taxi 2.0 – MSD 19241 Design Review #5 Slide #9

  12. Next Steps (wk.3 - wk. 6) • Continue testing APM subsystems • Test brakes when we get the cart back from FMS • Submit Imagine RIT proposal • Begin testing towards Imagine RIT goals/area • Fix throttle issues • Integrate and tune AMCL • Combine Octomap and LOAM • Fix GUI Navigation issues • NavStack Tuning • Stay in contact with VectorNav regarding possible upgrade (VN200 to VN300) Full Work Breakdown Structure on EDGE Site (.mpp file) Tiger Taxi 2.0 – MSD 19241 Design Review #4 #5 Slide #10

  13. Imagine RIT Exhibit Exhibit Location Needs: • Relatively open area with low pedestrian traffic • Area must have several paths to showcase APM abilities • Ideally an area with a loop • Access to outlet or generator (to charge battery) Imagine Exhibit Demonstration: • Showcase point to point autonomous navigation • Object avoidance (could set up obstacles) • Showcase GUI • Demonstrate how the cart fundamentally works to Imagine patrons Tiger Taxi 2.0 – MSD 19241 Design Review #4 #5 Slide #11

  14. Imagine RIT Location Proposed Options Tiger Taxi 2.0 – MSD 19241 Design Review #5 Slide #12

  15. Option 1: Slaughter / Destler Quad Tiger Taxi 2.0 – MSD 19241 Design Review #5 Slide #13

  16. Option 2: Front of GPC Tiger Taxi 2.0 – MSD 19241 Design Review #5 Slide #14

  17. Option 3: Gannett Tiger Taxi 2.0 – MSD 19241 Design Review #5 Slide #15

  18. Option 4: Pi Quad Tiger Taxi 2.0 – MSD 19241 Design Review #5 Slide #16

  19. Tiger Taxi 2.0MSD-19241 Questions?

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