navi rutgers university 2012 design presentation 1
TRANSCRIPT
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NaviRutgers University2012 Design Presentation
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Mechanical Design
• Entirely custom chassis– Designed using SolidWorks– 80/20 aluminum framing– 0.25” polycarbonate casing– 240 lb, including payload
• Brushed DC drive motors– 80 W, 500 CPR optical
encoders– 5.6 mph maximum speed– 27% maximum grade
• Actively air cooled by six fans– 100 cfm airflow through
chassis– Modeled using CFD
simulation2
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Electrical: Power Distribution
• Optima YellowTop Battery (×2)– 12 V lead acid batteries (in
series)– 35 A·h capacity
• Low power consumption– 400 W loaded, 215 W idle– 2+ hour battery life
• 24 V, 12 V, and 5 V DC buses– 85%+ efficiency DC-DC
regulators– Isolated grounds limit noise
• Dashboard– Switches for major components– Dot matrix display status
indicator
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• Use and contribute to open source software when possible
• Built on the Robot Operating System (ROS) framework• Three-dimensional Gazebo simulation of driving and
sensors
Software Architecture
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Gazebo
GazeboLocalization
Perception
Planning
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Gazebo Simulation
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Localization: Sensors
GPS: Novatel ProPak V3• 2 Hz sample rate• 15 cm accuracy (1 sigma)• OmniSTAR HP corrections
Compass: PNI Fieldforce TCM• 50 Hz sample rate• 0.3° heading accuracy
(RMS)• 360° tilt correction
Odometry: US Digital Encoders• 500 CPR, 0.5 mm
resolution
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Localization: Extended Kalman Filter
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(Source: Probabilistic Robotics)
• Fuse sensors to estimate pose– Odometry: fast, relative pose– Compass: fast absolute orientation– GPS: accurate absolute position
• Non-linear “turn-drive-turn” model
Hardware Simulation
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Perception: Sensors
Laser: Hokuyo UTM-30LX• 40 Hz sample rate• 240° field of view• 30 m maximum range
Cameras: AVT Manta G-125C (×2)• 15 FPS, synchronized• 646 × 482 resolution• 90° × 65° wide angle lens• 130° combined field of view
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Perception: Laser Field of View
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240°
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Perception: Sensors
Laser: Hokuyo UTM-30LX• 40 Hz sample rate• 240° field of view• 30 m maximum range
Cameras: AVT Manta G-125C (×2)• 15 FPS, synchronized• 646 × 482 resolution• 90° × 65° wide angle lens• 130° combined field of view
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Perception: Camera Field of View
1120 m
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Perception: Line Detection
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Original Image Color Transformation
Width Filter
• Uses the HSV color space to limit the impact of illumination
• Width filter is generated from the calibrated camera matrix
• Pipelined with left and right images processed in parallel
• Total processing time is 100 ms per image pair• Pipelining allows for a 50% increase in sample rate
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Mapping
Local Costmap: (10 m)2
• 5 cm square cells; high resolution• Always centered on the robot Used by the local planner
Global Costmap: (1000 m)2
• 25 cm square cells; low resolution• Origin fixed by a GPS coordinate Used by the global planner
• Sensors mark and clear observations• Based on the ROS navigation stack
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Planning
Global Planner (on demand)• Weighted A* Search• Inverse of distance for <1
m• Constant for ≥1 m
Local Planner (20 Hz)• Dynamic Window
Approach• 10 linear velocity samples• 15 angular velocity
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Questions?
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