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Introduction Background and Marketing – Ben Kuhlman Robot – Troy Wohlfert Global Positioning System – Laura O’Rear LADAR – Stephen Sherman System Design – Matt Knollman Navigation and Control – Alex Hain Markets for Our Product One-Third of all military vehicles by 2015

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introduction
Introduction
  • Background and Marketing – Ben Kuhlman
  • Robot – Troy Wohlfert
  • Global Positioning System – Laura O’Rear
  • LADAR – Stephen Sherman
  • System Design – Matt Knollman
  • Navigation and Control – Alex Hain
markets for our product
Markets for Our Product
  • One-Third of all military vehicles by 2015
    • Current Military Applications
    • Future Applications
      • Detection, Heavy Combat, Monitoring
  • Possible Civilian Applications
    • Agriculture, Materials Handling, Mass Transportation, Automobile enhancement
robotics development
Robotics Development
  • Current Civilian Applications
    • AGVs, Robotic Arms, Smart Appliances.
    • Automated Highway Systems Disappointment
      • National Automated Highway System Consortium
  • Challenges for the Future of Robotics
darpa defense advanced research project agency
DarpaDefense Advanced Research Project Agency
  • Department of Defense
    • Armed forces a decisive edge
  • Grand Challenge
    • Race between Barstow and Las Vegas
    • $1 Million Prize
    • Rough Terrain
      • fencing
      • water
      • bushes
atrv 2
ATRV-2
  • Manufactured by IRobot
    • Off-Road capabilities
    • 220 lbs load capacity
    • 2 m/s maximum speed
  • Application for Darpa
slide6

Global Positioning System (GPS)

  • How GPS Works:
    • 24 satellites broadcast on two frequencies:
      • L1 (1575.42 MHz), C/A code and P(Y) code
      • L2 (1227.60 MHz), P(Y) code
    • P(Y) code
    • C/A code
      • Pseudo-random Noise
      • Contains almanac of satellite (SV) positions
      • Contains ephemeris, SV position corrections
    • Distance (from SV) = Velocity x Time
      • Velocity is approx. the speed of light 3.0*108 m/sec
      • Time is the delay needed to match pseudo-code
    • Trilateration (for position calculation)
      • Requires min. of 4 satellites
      • Four equations with four unknowns

www.garmin.com

gps application
NovAtel Propak-LB-L1/L2 Receiver

10 cm level accuracy, 10 Hz

30 ~ 50 sec acquire time

3.7 Watts, 7 to 15 V DC input

Output

3 RS-232 serial

PPS (pulse per second)

Rugged design

NovAtel GPS-600-LB Antenna

Tracks SVs up to 15° below horizon

GPS Application
ladar

LADAR

LAser Detection And Ranging

How it works

]

ladar9
LADAR
  • Our Model: Sick LMS 30206
  • Specs
    • Range: 80m
    • Angular Resolution: .25o, .5o, 1o (selectable)
    • Image Resolution: 10mm
    • large power consumption (20~140 W)
  • Placement
    • Front center of ATRV angled Downward
slide10

System Overview

  • Sensor System Tasks
  • Data acquisition
  • Signal processing / Filtering
  • Map generation
  • Control System Tasks
  • Path planning
  • Integration of high and low-level sensor data
  • Motor control
computer hardware
Computer Hardware

Sensor Computer

  • EPIA PD 1000
    • 1 GHz Via C3 CPU
    • 4 serial ports
    • Dual Ethernet ports
    • Small 17cm x 17cm footprint

Power Supply

  • DC-DC converter
    • 80 Watt output
    • Wide input voltage range (11-30V)

Storage

  • 512MB Compact Flash card
software
Software

Linux OS

  • Free (GPL)
  • Scalable and very powerful

Sensor Software

  • Use existing API to interface with LADAR
  • Generate virtual map of environment
  • Client / Server architecture

Control Software

  • Integrate data from LADAR and GPS
  • Identify obstacles
  • Generate driving path
  • Use existing API to interface with ATRV-II

GUI (Display Software)

  • Relay robot position and LADAR map to user
  • Use Mobility Robot Integration API
  • Communicate with vehicle via wireless Ethernet link
navigation and tracking

Navigation and Tracking

GPS used for broad view

LADAR used for immediate area

Brute force used when GPS fails

conclusion
Conclusion
  • ATRV-2 test platform
  • GPS is used for accurate positioning
  • LADAR is used for object avoidance
  • Use of multiple computer systems mimics actual DARPA vehicle
  • Robust and accurate control system
  • Simple AI, reduced complication
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