new jersey autonomous vehicle
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New Jersey Autonomous Vehicle. Brandon Schiff Jason Scott Jared Milburn. Abstract. Comprised of one mechanical and two computer engineers Construct vehicle to navigate through an obstacle course by GPS Waypoints Improving previous model Compete in the 22 nd Annual IGVC. - PowerPoint PPT PresentationTRANSCRIPT
New Jersey Autonomous
Vehicle
Brandon SchiffJason Scott
Jared Milburn
Comprised of one mechanical and two computer engineers
Construct vehicle to navigate through an obstacle course by GPS Waypoints
Improving previous model Compete in the 22nd Annual IGVC
Abstract
IGVC Frame Design Electronics Alogrithm Design Future Plans Budget
Table of Contents
The 22nd Annual Intelligent Ground Vehicle Competition
Oakland University in Rochester, Michigan June 6 – June 9, 2014
Ground Vehicle Autonomous Qualification Basic and Advance Courses
Intelligent Ground Vehicle Competition (IGVC)
Size◦Length – 3ft-7ft◦Width – 2ft-4ft◦Height – Under 6ft
Speed◦Average – 1 mph◦Minimum – 1 mph◦Maximum – 10
mph
Propulsion Emergency Stop
◦Wireless◦Mechanical
Safety Light Payload
◦18” x 8” x 8”◦20 Pounds
IGVC Rules and Regulations
Grass with Dashed Lines Natural and Manmade Objects Waypoints Colored Flags Fencing
IGVC Courses
IGVC Courses
Previous Frame
Stress Analysis
Compliance with IGVC Rules
Material Used
Frame Design
Analysis of previous team’s frame:
Left and right: deformation caused by load and laser range finder
Dimension
TCNJ Autonomous Vehicle
IGVC Specifications
Length 3’ 2.5” 3’ - 7’Width 2’ 2” 2’ – 5’Height 3’ 6” Max: 6’
• Still the best design iteration• Functional design• Cons have simple solutions• Allows focus to be shifted to ensuring
vehicle is fully operational• Blue Loctite used to lock bolts in place
IGVC Spec.
6105 T5 AluminumFractional T-slotted barsProduct Number: 1010Cross Sectional Dim.: 1.00” x 1.00”
E = 10,000ksiν = 0.33
Reasoning:• Budget Friendly• Lightweight• Machinable• Modular
Material
Electronics Overview
Allows the vehicle to be aware of it’s environment and location
Powered by two separate on-board batteries or laptop.
Laptop used for data processing of electrical components
Manual E-Stop Button
Wireless E-Stop Button
12 Volt BatteryRelay
Motor Controller
Motor
Optical Encoder
Motor
Optical Encoder
Microcontroller
Drive Train Diagram
Drive Train Propulsion Four Wheels, Two Wheel Drive NPC-42150 Motors
◦ DC Motors◦ Torque - 100 Psi◦ 93 Rpm◦ Previous Years
Motor Controller◦ Model – Sabertooth 2x25 V2◦ Controls both motors◦ Controlled through serial ports◦ Previous Years
Measure Wheel Speed Optical Encoder
◦ Attached to gear shaped Disk◦ LED Light◦ Voltage Pulses
Feedback System
Volta
geNo Tooth Tooth
h𝑤 𝑒𝑒𝑙 𝑠𝑝𝑒𝑒𝑑 𝑖𝑛 h𝑚𝑝 =∆ h𝑛𝑜𝑡𝑐 𝑒𝑠∆ 𝑡𝑖𝑚𝑒 (𝑠 )
∗ 1¿𝑜𝑓 h𝑛𝑜𝑡𝑐 𝑒𝑠 ∗𝐷 h𝑤 𝑒𝑒𝑙 𝑖𝑛 𝑓𝑡∗
1𝑚𝑖𝑙𝑒5280 𝑓𝑡 ∗
3600 𝑠1h𝑟
Used to navigate vehicle to given GPS location
Data sent via serial connection to Arduino port
Used in accordance with magnetometer
Global Positioning System (GPS)
Digital Compass
Reads current vehicle orientation Digital as opposed to analog compass Accompanies GPS system Arduino serial connection and power
Used to feed real time images of the course to our laptop
Primarily focused on line detection as opposed to object detection
Filters out unnecessary visual information through applying masks and focuses only on discovering white lines
Recognition of white lines fed into path planning algorithm
Webcam
Laser Range Finder
Short range laser used for object detection Properties Data sent via RS232-to-USB connection with
laptop Output
Laser Range Finder/GPS operating on two 12V batteries
Compass/Webcam/Warning Light/Motors and Motor Controller running on 12V
Sensors and vehicle operations communicates with Arduino Mega
Software-processing laptop sends and receives data with Arduino
Power Systems
Arduino Mega Outputs 3.3V and <50mA Powered and communicates with laptop via
USB Arduino IDE
Microcontroller
- Software - Hardware Components - Arduino - Laptop
GPS
Compass
Camera
Laser Range Finder
Microcontroller
Communication
Hub
Caution Light
D* Lite
Camera Softwar
e
C++ (Eclipse
IDE)
Arduino Softwar
e
Laser Range Finder
Software
RC and RC
Controller
Motors
Algorithms for the autonomous vehicle need to be robust and simple
Navigation and Path Planning algorithms are required for optimal performance
Navigation algorithm relies on utilizing the capabilities of the GPS and Compass while the Path Planning algorithm relies on the webcam and laser range finder
Algorithm Design
Determines the vehicle’s current position, maintains a list of waypoints, and keeps track of the vehicle’s progress
GPS must accurately determine and report the vehicle’s latitude and longitude
Compass must give the vehicle’s current heading
Navigation
Going to use D* Lite path planning D* is an assumption based algorithm useful
for when a robot needs to navigate to a given goal in unknown terrain
D* Lite works with the same functionality as D*, but it is simpler to understand and easier to execute
Path Planning
Path Planning
Previously◦ Matlab◦ Microsoft Visual Studio◦ Open CSV◦ Arduino IDE
Now◦ Eclipse C++ Language IDE◦ AVR-GCC Compiler◦ AVRdude
Software Used
Reproduce all MATLAB code in C++ Testing of C++ code Write path planning and navigation
algorithms Final program formulated using Microsoft
Visual Studio and OpenCV
Software Goals
Frame covering Full electrical system finalized, connected,
and run simutaneously RC controller configuration and testing New coding, testing and debugging
Future Plans
Spring◦ Finalize Frame and Drive Train◦ Path Planning Components Working in Sequence◦ Debugging and Testing
Summer◦ Final Testing and Preparation for IGVC
NJAV Future Plans
Budget
Budget Total Price
Mechanical $100.00
Electrical $122.90
Travel $1136.00
Total $1358.90
Dr. Jennifer Wang◦ Advisor – Professor of Mechanical Engineering – The College of
New Jersey
Dr. Orlando J. Hernandez◦ Advisor – Professor of Electrical and Computer Engineering – The
College of New Jersey Mr. Joseph Zanetti
◦ Professional Services Specialist – School of Engineering – The College of New Jersey
Dr. Steven Schreiner◦ Dean of the School of Engineering – The College of New Jersey
Acknowledgements
New Jersey Autonomous Vehicle
◦ Jason Scott
◦ Jared Milburn
◦ Jonathan Sayre
Questions?