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 OutlineIntroduction/Problem Statement – Steve WiseMarket Research – Ed WeaverSensor – Justin MoonSoftware – Ryan BokmanVehicle – Jason CrawfordSchedule/SOW/Cost – Charles PhillipsConclusion

Market ResearchAutomated Vehicle Control Systems

Will Greatly Reduce Traffic CongestionWill Reduce number of CollisionsNo Marketable Solution

Limited Compensation for Accident Control

Grand ChallengeEncourage innovative AVCS designCompetition is a Self Marketing Event

Less funding is needed for marketing purposesMore funding can be placed towards researchWinning 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 CollectionSensor 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 mWidth 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

FacilitiesProf. Özgüner’s LabElectrical Engineering Computer LabsScience and Engineering LibraryVarious areas around campus

weather permitting

Hallways in Caldwell Laboratory

EquipmentSICK LADAR unitBig-Wheeled RobotDifferent types of fencesPC

Schedule

CostsMany items are already purchased.

Big-wheeled robotComputersION vehicleLADAR

To be purchased:Serial Cable

$14

Barbed wire fencing$25/30ft.

Fence posts$10 ea.

Statement of WorkTeam 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?