1. Intelligent Ground Vehicle Competition Navigation Michael Lebson - mlebson@my.fit.edu James McLane - jmclane@my.fit.edu Image Processing Hamad Al Salem - halsalem@my.fit.edu Shane Brumbley - sbrumble@my.fit.edu Faculty Sponsor Dr. Eraldo Ribeiro - eribeiro@fit.edu Project Website http://my.fit.edu/~mlebson/seniorDesign

2. Design Windows application C# using.Net Framework 3.5 SP1 Computer on-board vehicle Data from LIDAR, GPS, Compass, Motor Controller, and Camera GUI for initial setup and debugging Iterative design

3. Design Class Diagram

4. System Architecture Diagram

5. Functional Requirements: High Priority Lane Recognition – must be able to see the lane boundaries Object Recognition – must be able to see obstacles in the path of the object Obtain Direction – Using input devices, they system calculates the best path to the waypoint

6. Functional Requirements: Medium Priority Vehicle Control – Moves based on path calculated by navigation GUI - For debugging purposes, this will allow the programmers to see what data is being processed. Automation – Vehicle will be able to function without human interaction and using systems devices

7. Functional Requirements: Low Priority Move Backward – Moves the vehicle in backwards in case of obstructions Speed Controls – Adjusts the speed of the vehicle and ensure it does not exceed the maximum 5 MPH limit.

8. Non-Functional Requirements C# Windows 7 Easy to fix/maintain Continuous interaction 10Hz

9. Non-Functional Requirements, cont. Device cohesion Code commenting Wireless connection for remote control software Refactoring code

10. Testing Two test types –Virtual testing Sample data for the Vehicle to recognize and make appropriate actions Save time Test a newer version of code –Physical testing Test the vehicle functionality outdoors in grass lots Test the vehicle with and without obstacles and between the white lane lines

11. Examples of The Test Plan Test CaseActionExpected ResultPossible Failure Vehicle stays within white lane lines Operate the system by opening the program and selecting autonomous control. The vehicle stays within the white lane lines exactly The vehicle moves across a white lane line The vehicle moves on to a white lane line Moving forward Operate the system by opening the program and selecting autonomous control while there are no objects in the vehicle’s path The vehicle moves straight forward The vehicle doesn’t move The vehicle moves backward The vehicle turns right or left. Detecting obstacles Operate the system by opening the program and selecting autonomous control after placing an object in the vehicle’s path The vehicle detects the obstacle(s) and calculates another path The vehicle does not detect the object and runs into it

12. Task Matrix for Milestone 2 TaskJamesMikeHamadShane Begin Documentation 25% Begin new programming 50% Nav 50% Nav 50% Image 50% Image Clean up existing code 25%

13. Questions?