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Control Group 2 Final Presentation

Control Group 2 Final Presentation. HLC 2 ( H ere’s L ookin’ at you C hen !). Introduction. Successful completion of the course Software architecture Proprietary technologies Problems encountered Future considerations Race highlights. We Rule. We rock, we roll... We love robots.

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Control Group 2 Final Presentation

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  1. Control Group 2Final Presentation HLC 2 (Here’sLookin’at youChen!)

  2. Introduction • Successful completion of the course • Software architecture • Proprietary technologies • Problems encountered • Future considerations • Race highlights

  3. We Rule. • We rock, we roll... • We love robots.

  4. Simplified Software Architecture

  5. Proprietary Technologies • Expansion of LADAR data • Applied once to compensate for vehicle width • Applied a second time to maintain a safe distance from obstacles • Sensor fusion and filtering • GPS data used to find current position • Gyroscope used to find current heading • “Speed Zones” • Dynamically adjust speed in the presence of obstacles

  6. LADAR Expansion

  7. Speed Zones

  8. Problems Encountered • Noise in the GPS • Track on Ground • Determination of Heading • Track on Ground, Odometry, Gyro • Modifications to speed and turn rate • Slowed down to prevent skipping over waypoints

  9. Future Considerations • Virtual Boundary Checking • Store map of the surrounding environment • Incorporate GPS track on ground calibration with INS information • Forward Path Planning

  10. Race Highlights Video by Qi Chen

  11. Victory! Thanks to Qi Chen, John Martin, George, and Prof. Ozguner for all your help!

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