Intelligent Ground Vehicle Competition LTU Senior Project Presenting October 21st Nathaniel Johnson Jacob Bushon Timothy Helsper Danielle Johnson MaryGrace Janas

What is the Intelligent Ground Vehicle Competition about? University project teams Unmanned, unguided, independently acting robotic ground vehicles Navigation and obstacle avoidance Competition held at Selfridge Air Force Base IGVC Team 2006

Why does the Department of Defense host IGVC? The Department of Defense stated before Congress that they would have 1/3 of their ground vehicles made autonomous by 2015 However, no such vehicles have yet been made DoD sponsors IGVC to encourage college students to develop the field of unmanned ground vehicles. “The IGVC offers a design experience that is at the very cutting edge of engineering education. It is multidisciplinary, theory-based, hands-on, team implemented, outcome assessed, and based on product realization. It encompasses the very latest technologies impacting industrial development and taps subjects of high interest to students.” IGVC Team 2006 Sources: UMQuest, IGVC Home Page

Winning the IGVC “A fully autonomous unmanned ground robotic vehicle must negotiate around an outdoor obstacle course under a prescribed time while staying within the 5 mph speed limit, and avoiding obstacles on the track.” Ranking based on: + Time taken + Distance traveled -- Penalties Penalties incurred by: Obstacle collisions Pothole hits Boundary crossings IGVC Team 2006

Joint Architecture for Unmanned Systems - JAUS User-Friendly Simple Interface Easy to Maintain E-Stop Forward-Compatible Design Plug-and-play Capable of using new hardware or software Set to Wireless Standards IGVC Team 2006

Robotic Concept and Development

Previous Robot Forward-looking camera On-board Laptop Computer LIDAR Multiple 12V Battery Power Supply Two Wheel Drive IGVC Team 2006

Results from Last Year’s Competition Placed 7th Overall Vision systems and path-finding worked admirably Was unable to complete the course Occasional mistakes by the navigation software Could not climb the moderate inclines Battery did not last the entire course IGVC Team 2006

New Plan for the 2006 Competition Build a new robot As few parts as possible will be reused from the Think Tank Improve the software and hardware Advanced algorithms for better object avoidance Vastly improved electrical and mechanical systems Built to JAUS Specifications Involve engineering students to actualize hardware solutions IGVC Team 2006

Development Teams for IGVC 2006 Computer Science Vision Systems Movement Control Mechanical Engineering Propulsion Methods Frame Design Electrical and Computer Engineering Wireless Capability Power System IGVC Team 2006

Concept Design for the Think Tank 2 Battery, Generator, or Fuel Cell Power Supply On-board Laptop Computer with Wireless Link Increased Mobility Easy to Access Hardware Contained in a Reinforced Frame IGVC Team 2006

Areas of Improvement Over Previous Robot Electronics Extend operating time Provide constant reliable voltage to motors and other electronics Condense power supply into a single unit Deep-cycle Battery Gas generator (DC output) Step Up Converter Hydrogen Fuel Cell Add the E-Stop emergency stop safety feature IGVC Team 2006

Fuel Cell Concept 1.2 KW DC output – Useable Indoors and Outdoors Safe and Environmentally Friendly Weighs ~ 30-50 lbs ~ 2.5 by 1.5 ft $7,000 cost A single $200 tank could last 6 days of continuous use at 100% load Recommended DC-DC converter to smooth output and prevent excess power draw from motors IGVC Team 2006

Fuel Cell Pictures IGVC Team 2006

Power Options Deep-cycle Battery Gas generator (DC output) Optima Blue-top Battery SC31DM 12 V battery, 12000 W max output, 60 lb, 2.5+ hour run time at 25 Amp Load Gas generator (DC output) Coleman Sport 1850 12 V DC, 180 W output, 70 lb weight Honda EU1000i 12 V DC, 100 W output, 30 lb weight IGVC Team 2006

Wireless Control - Omnex R161 Wireless Receiver The R161 receiver has 19FET output One E-Stop output for safe emergency shutdown of power to the output and external circuits Designed to be switched to ground instead of battery IGVC Team 2006

Omnex Origa T100 Transmitter IGVC Team 2006

Omnex Origa T100 Transmitter Trusted Frequency Hopping Spread Spectrum technology Maintenance Item- Battery High impact plastic exterior for rugged environments IGVC Team 2006

Project Results

Department of Defense Satisfaction Meets JAUS Standards User Friendly Plug-and-play Wireless Capability Excellent Product Rugged Reliable Safe IGVC Team 2006

Pedagogical Benefits Student Development Military Development Interdisciplinary interaction Development of a real-world product New ideas and materials available for future senior project teams Military Development Provide for a need which currently has no solution Save the lives of our soldiers IGVC Team 2006

IEEE Issues Economic Environmental Manufacturing Ethics Health Social Supports one of the major economies of the US - Defense Environmental Materials have little to no dangerous exhaust Many parts can be reused Manufacturing Nearly all the materials are off-the-shelf Ethics Saves lives Health Exhaust is not dangerous Comes with E-Stop and 5 mile an hour hardware limit Social Using technology to help soldiers is applauded by society Legal Materials purchased at educational cost will not be used for commercial purposes. IGVC Team 2006

Thank You For Your Attention We would like to hear any question, comments or suggestions at this time