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EDSGN 100 Autonomous System Navigation and Driver Augmentation

EDSGN 100 Autonomous System Navigation and Driver Augmentation. Pramod Vemulapalli Graduate Research Assistant. My Background : Robots , Simulators and more …. Hardware. HOKUYO LASER. SICK LASER. NOVATELL GPS RECIEVER. CROSSBOW IMU. SHARP IR SENSOR. HONEYWELL HG1700 IMU.

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EDSGN 100 Autonomous System Navigation and Driver Augmentation

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  1. EDSGN 100 Autonomous System Navigation and Driver Augmentation Pramod Vemulapalli Graduate Research Assistant EDSGN 100

  2. My Background : Robots , Simulators and more … EDSGN 100

  3. Hardware HOKUYO LASER SICK LASER NOVATELL GPS RECIEVER CROSSBOW IMU SHARP IR SENSOR HONEYWELL HG1700 IMU EDSGN 100

  4. ψ-DAP EDSGN 100

  5. Reconstruction of the Road from the Laser , GPS and IMU data EDSGN 100

  6. How to choose sensors ? • Choosing Sensors must be done by a Cost – Benefit analysis and by understanding the needs and resources the design problem presents • Asking the right questions can save you $$$ EDSGN 100

  7. Some Questions that you mightwant to ask about sensors • What is the power requirement ? EDSGN 100

  8. Some Questions that you mightwant to ask about sensors • What is the sensing capability that is required ? Camera Lidar GPS What is the scan rate, accuracy , resolution ??? EDSGN 100

  9. How are the sensors interfaced ? • How are the sensors interfaced ? Analog Serial Port USB WIFI EDSGN 100

  10. Some Other Questions ? • What is the weight ? • What are the dimensions ? • What are the weather conditions ? ……. EDSGN 100

  11. Basic System Architecture of an Automated System POWER CIRCUITRY ACTUATORS SENSORS COMPUTER D D EDSGN 100

  12. POWER CIRCUITRY SICK Laser : 24V Hokuyo Laser : 5V Car Alternator : 10-15v GPS :5 -18 V Battery : 12v Machine Vision Camera :12V EDSGN 100

  13. POWER CIRCUITRY 24V Power Supply Car Alternator : 10-15v 5V 12V Charge Controller: 10-15v Battery : 12v EDSGN 100

  14. Network Based Architecture ACTUATORS SENSORS COMPUTER S1 S2 COMPUTER COMPUTER S3 S4 A1 A2 Direct Connection Architecture EDSGN 100

  15. Network Based Architecture ACTUATORS SENSORS COMPUTER S1 Device Server S2 COMPUTER S3 COMPUTER S4 HUB COMPUTER Device Server A2 A1 EDSGN 100

  16. Lasers Hokuyo Scan Rate : 10Hz Range : 4 meters Angle : 270 Price : $2375 AR 1000 Range : 30 m Angle : Line SICK LMS 291 Scan Rate : 75Hz Range : 80 meters Angle : 180 Price : $4400 AR 1000 Range : 200 m Angle : Point EDSGN 100

  17. BAE Project • Be innovative ! Would it be possible to connect them on a network !!! • Check out the equipment that is already on a Humvee • Do not forget to do a failure analysis EDSGN 100

  18. Links • http://www.acuitylaser.com/products.shtml • http://www.acroname.com/robotics/parts/c_Sensors.html • http://www.sickusa.com • www.darpa.mil/ EDSGN 100

  19. Conclusion • What are the questions that you need to ask about sensors ? • What is power circuitry that is used in these systems? • What is a network based architecture and why is it better? • Lasers EDSGN 100

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