Download - LTU H 2 Bot II
![Page 1: LTU H 2 Bot II](https://reader036.vdocuments.net/reader036/viewer/2022062314/56814015550346895dab5cfb/html5/thumbnails/1.jpg)
LTU H2Bot II
Team Members:Marcus Randolph, Brace Stout, Gary Givental
![Page 2: LTU H 2 Bot II](https://reader036.vdocuments.net/reader036/viewer/2022062314/56814015550346895dab5cfb/html5/thumbnails/2.jpg)
Presentation Outline
Hardware Design Updates
Performance Software Design Simulation Demo
![Page 3: LTU H 2 Bot II](https://reader036.vdocuments.net/reader036/viewer/2022062314/56814015550346895dab5cfb/html5/thumbnails/3.jpg)
Hardware Features Inter-changeable power
source Fuel Cell Module Battery Module
PCB Power distribution Fail-safe Brakes LIDAR, Camera, Compass,
DGPS, Encoders New 3CCD camera Compass location changed DGPS antenna location changed
![Page 4: LTU H 2 Bot II](https://reader036.vdocuments.net/reader036/viewer/2022062314/56814015550346895dab5cfb/html5/thumbnails/4.jpg)
Performance
Curb Climbing: minimum 2.5” curb Max Speed: 4.2 mph Power Consumption: 50-150W Range: Fuel Cell 8 hrs, Battery 5 hrs Failsafe Brake Capacity: > 30% grade LIDAR Range: 8.1m
![Page 5: LTU H 2 Bot II](https://reader036.vdocuments.net/reader036/viewer/2022062314/56814015550346895dab5cfb/html5/thumbnails/5.jpg)
Key Software Features Completely Redesigned Software for 2007
JAUS Challenge Navigation Challenge Autonomous Challenge
Modular components Simulator Software
![Page 6: LTU H 2 Bot II](https://reader036.vdocuments.net/reader036/viewer/2022062314/56814015550346895dab5cfb/html5/thumbnails/6.jpg)
JAUS Challenge
JAUS module is a plug-in Extensible to support
more commands
Development Process Learning message
architecture Tested with JCTS test
suite Integration with H2Bot
modules
![Page 7: LTU H 2 Bot II](https://reader036.vdocuments.net/reader036/viewer/2022062314/56814015550346895dab5cfb/html5/thumbnails/7.jpg)
Navigation Challenge
![Page 8: LTU H 2 Bot II](https://reader036.vdocuments.net/reader036/viewer/2022062314/56814015550346895dab5cfb/html5/thumbnails/8.jpg)
Autonomous Challenge
![Page 9: LTU H 2 Bot II](https://reader036.vdocuments.net/reader036/viewer/2022062314/56814015550346895dab5cfb/html5/thumbnails/9.jpg)
Color Recognition
RGB / HSV Closest Color Threshold Based
![Page 10: LTU H 2 Bot II](https://reader036.vdocuments.net/reader036/viewer/2022062314/56814015550346895dab5cfb/html5/thumbnails/10.jpg)
Sensor Fusion LIDAR fused with video
input Integrated using Fuzzy
Logic Weighted inputs Fuzzy Rules are represented
by Area Maps Rules determine sensor
precedence
![Page 11: LTU H 2 Bot II](https://reader036.vdocuments.net/reader036/viewer/2022062314/56814015550346895dab5cfb/html5/thumbnails/11.jpg)
H2Bot Simulator
Why build a simulator? Platform Availability Concurrent Development Seasonal Considerations
![Page 12: LTU H 2 Bot II](https://reader036.vdocuments.net/reader036/viewer/2022062314/56814015550346895dab5cfb/html5/thumbnails/12.jpg)
H2Bot Simulator Design Goals H2Bot Interface Compatible
Drop-In replacement for actual hardware Realistic Response to Control Inputs Configurable / Extensible
Different courses Obstacle placement Different platforms New devices
![Page 13: LTU H 2 Bot II](https://reader036.vdocuments.net/reader036/viewer/2022062314/56814015550346895dab5cfb/html5/thumbnails/13.jpg)
Simulator Interface
H2Bot Simulator Design
MotorControl
ShaftEncoders
GPSPosition
CompassHeading
VideoImages
LaserMeasurement
Motor Drive &Platform Inertia
Modeling
Position &HeadingUpdate
3DEnvironment
Modeling
Right/Left RPM
Pos
ition
Hea
dingHardware Abstraction Layer
![Page 14: LTU H 2 Bot II](https://reader036.vdocuments.net/reader036/viewer/2022062314/56814015550346895dab5cfb/html5/thumbnails/14.jpg)
H2Bot Simulator Approach
Hardware abstraction layer Devices characterized with Java™ interfaces Physical and simulated device classes implement
the same interfaces Low-cost development using freely available
software Java 3D (for 3D simulation) Blender (for 3D modeling)
![Page 15: LTU H 2 Bot II](https://reader036.vdocuments.net/reader036/viewer/2022062314/56814015550346895dab5cfb/html5/thumbnails/15.jpg)
H2Bot Simulator Challenges
Timing Problem: 3D calculations can use lots of CPU so
simulation may not proceed in real-time Solution: Simulation time is tied to video frame
generation. All processing occurs based on simulation time.
Realistic environment Actual camera images used as textures
![Page 16: LTU H 2 Bot II](https://reader036.vdocuments.net/reader036/viewer/2022062314/56814015550346895dab5cfb/html5/thumbnails/16.jpg)
Summary
Innovation Vehicle Simulator Dual Power Modules Modular/Object-Oriented Software Design
Questions / Answers