TEAM INITECH

DARPA Grand Challenge

TEAM INITECH

ContextCurrently an OSU team is involved in creating an autonomous off road vehicle to be used in the DARPA Grand Challenge.

Primary Goal and ScopeTo create a LADAR based sensor system to detect the presence of fences on the DARPA Grand Challenge course.

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

Market ResearchAutomated Vehicle Control Systems

Will Greatly Reduce Traffic Congestion

Will Reduce number of Collisions

No Marketable SolutionLimited Compensation for Accident Control

Grand ChallengeEncourage 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

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 WireSmaller Vehicle for 2006

Will be Vulnerable to Barb Wire

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)

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° CAverage desert temperature: 20-25° C Maximum ranges from 43.5-49° C

Data Collection

Sensor Data (3 Fields) [ Horizontal Position, Vertical Position, Intensity (Reflected Amplitude)]

Data Interface: RS-422 or RS-23212 to 26 Pin Connection

Accepts I/O from Sensor and Computer

From LADAR to Stereo Vision

LADAR CapabilitiesHorizontal 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

TOPVIEW

SIDEVIEW

Computer Software SystemResponsibilities 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.

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.

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.

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.

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

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

Facilities

Prof. Özgüner’s Lab

Electrical Engineering Computer Labs

Science and Engineering Library

Various areas around campusweather permitting

Hallways in Caldwell Laboratory

EquipmentSICK LADAR unit

Big-Wheeled Robot

Different types of fences

PC

Schedule

CostsMany 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.

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 Proposal683: Final Design, Construction, TestingPost 683: Integration into full scale DARPA vehicle

Questions?