1 NASA NYCRI 2006 Autonomous Vehicle Control System Advisor: Dr. Haim Baruh Advisor: Dr. Haim Baruh Mentor: Lucian Iorga Mentor: Lucian Iorga Researcher: Christopher Bussetti Researcher: Christopher Bussetti

2 An Autonomous Vehicle How it works: The camera from the follower vehicle tracks the 3 red targets on the lead vehicle (which is a remote control car). The camera from the follower vehicle tracks the 3 red targets on the lead vehicle (which is a remote control car). Transfers coordinates to the onboard PIC micro computer via serial connection. Transfers coordinates to the onboard PIC micro computer via serial connection. The computer controls the motor and the steering. The computer controls the motor and the steering. The Bluetooth wireless antenna sends control data to laptop computer for monitoring at Rutgers. The Bluetooth wireless antenna sends control data to laptop computer for monitoring at Rutgers.

3 The Development of the Autonomous Robot Platform development Platform development Use of a Rutgers MAE undergraduate design Repairs and improvements Modifications The development of a control law The development of a control law Need a robust control law Test new approach towards robust control developed at Rutgers MAE

4 Project stages and responsibilities Modifications of the steering mechanism Modifications of the steering mechanism Change control of steering Change control of steering Implement new robust control law Implement new robust control law Build a second follower car Build a second follower car

5 The New and Improved Vehicle Choose new hardware: Choose new hardware: A similar computer will be used Rotating camera Voltage regulator Modify chassis Modify chassis Building a camera turret Mount electronics on chassis

6 Thank you