1. TEAM INITECH DARPA Grand Challenge

2. TEAM INITECH Context Currently an OSU team is involved in creating an autonomous off road vehicle to be used in the DARPA Grand Challenge. Primary Goal and Scope To create a LADAR based sensor system to detect the presence of fences on the DARPA Grand Challenge course.

3. Presentation Outline Introduction/Problem Statement – Steve Wise Market Research – Ed Weaver Sensor – Justin Moon Software – Ryan Bokman Vehicle – Jason Crawford Schedule/SOW/Cost – Charles Phillips Conclusion

4. Market Research Automated Vehicle Control Systems Will Greatly Reduce Traffic Congestion Will Reduce number of Collisions No Marketable Solution Limited Compensation for Accident Control

5. Grand Challenge Encourage innovative AVCS design Competition is a Self Marketing Event Less funding is needed for marketing purposes More funding can be placed towards research Winning the competition can result in Name Brand recognition

6. Why Concentrate on LADAR? 2004 Competition Results Only Nine Vehicles Started Team TerraMax was one of them Two of the Five where caught on Barb Wire Smaller Vehicle for 2006 Will be Vulnerable to Barb Wire

7. Function of LADAR Emits a sequence of pulsed laser beams Beam reflected when contacts object Reflection detected by the scanner’s receiver Distance α (Time Received)- (Time Emitted)

8. Dimensions & Durability (194x352x266) mm Weight: 9 kg Enclosure Rating: IP 67 Resistance to dust, moisture, and temporary immersion in water. Ambient Operating Temperature -30 to 50° C Average desert temperature: 20-25° C Maximum ranges from 43.5-49° C

9. Data Collection Sensor Data (3 Fields) [ Horizontal Position, Vertical Position, Intensity (Reflected Amplitude)] Data Interface: RS-422 or RS-232 12 to 26 Pin Connection Accepts I/O from Sensor and Computer

10. From LADAR to Stereo Vision

11. LADAR Capabilities Horizontal Angle 100° to 180° Angular Resolution:.25,.5, or 1° Response Time: 52, 26, or 13 ms. Vertical Angle: 15° Viewing Radius: 150 m Width Resolution: 10mm TOP VIEW SIDE VIEW

12. Computer Software System Responsibilities of the software system Receive data from LADAR sensor. Search data for rectangular shapes that could be fence posts. Determine if a fence may exist based on perceived fence post shapes. Approximate the angle of approach and distance to the fence. Inform the Path Planner of the position and orientation of the fence.

13. Fence Directly in Front Fence posts will be approximately evenly spaced. Fence posts will appear to be the same size. Calculating angle of approach and distance should be relatively simple.

14. Fence at an Angle Fence posts will be proportionally spaced. Fence posts will also be proportional in size. Calculating angle of approach and distance will require some geometry.

15. Non-uniform Fence The tricky situation is a fence that does not follow a straight path. Fence will be broken into two fences by computer. Position and angle of approach are computed separately for each fence and sent to the Path Planner.

16. Vehicle Polaris Ranger 6x6 41 mph top speed 7.2" ground clearance 32.2 gal gas tank 250 W alternator 1,000 lbs. box capacity 27" water depth clearance

17. Motor: 2 high torque 24V DC Servo Drive: 4-wheel differential Weight: 50kg (110 lbs) Payload: 25kg (55.1 lbs) Batteries: Lead Acid, 720W-hr total Run Time: 3-5 hrs, terrain dependent Test Vehicle: ATRV Robot

18. Facilities Prof. Özgüner’s Lab Electrical Engineering Computer Labs Science and Engineering Library Various areas around campus weather permitting Hallways in Caldwell Laboratory

19. Equipment SICK LADAR unit Big-Wheeled Robot Different types of fences PC

20. Schedule

21. Costs Many items are already purchased. Big-wheeled robot Computers ION vehicle LADAR To be purchased: Serial Cable $14 Barbed wire fencing $25/30ft. Fence posts $10 ea.

22. Statement of Work Team Initech will develop and test a LADAR based sensor system for fence recognition. Professor Özgüner’s group will supply facilities and equipment. Tasks 582: Preliminary Design and Proposal 683: Final Design, Construction, Testing Post 683: Integration into full scale DARPA vehicle

23. Questions?