1. Intelligent Ground Vehicle Competition LTU Senior Project
Presenting October 21st
Nathaniel Johnson
Jacob Bushon
Timothy Helsper
Danielle Johnson
MaryGrace Janas

2. What is the Intelligent Ground Vehicle Competition about?
University project teams
Unmanned, unguided, independently acting robotic ground vehicles
Navigation and obstacle avoidance
Competition held at Selfridge Air Force Base
IGVC Team 2006

3. Why does the Department of Defense host IGVC?
The Department of Defense stated before Congress that they would have 1/3 of their ground vehicles made autonomous by 2015
However, no such vehicles have yet been made
DoD sponsors IGVC to encourage college students to develop the field of unmanned ground vehicles.
“The IGVC offers a design experience that is at the very cutting edge of engineering education. It is multidisciplinary, theory-based, hands-on, team implemented, outcome assessed, and based on product realization. It encompasses the very latest technologies impacting industrial development and taps subjects of high interest to students.”
IGVC Team 2006
Sources: UMQuest, IGVC Home Page

4. Winning the IGVC
“A fully autonomous unmanned ground robotic vehicle must negotiate around an outdoor obstacle course under a prescribed time while staying within the 5 mph speed limit, and avoiding obstacles on the track.”
Ranking based on:
+ Time taken
+ Distance traveled
-- Penalties
Penalties incurred by:
Obstacle collisions
Pothole hits
Boundary crossings
IGVC Team 2006

5. Joint Architecture for Unmanned Systems - JAUS
User-Friendly
Simple Interface
Easy to Maintain
E-Stop
Forward-Compatible Design
Plug-and-play
Capable of using new hardware or software
Set to Wireless Standards
IGVC Team 2006

6. Robotic Concept and Development

7. Previous Robot Forward-looking camera On-board Laptop Computer LIDAR
Multiple 12V Battery Power Supply
Two Wheel Drive
IGVC Team 2006

8. Results from Last Year’s Competition
Placed 7th Overall
Vision systems and path-finding worked admirably
Was unable to complete the course
Occasional mistakes by the navigation software
Could not climb the moderate inclines
Battery did not last the entire course
IGVC Team 2006

9. New Plan for the 2006 Competition
Build a new robot
As few parts as possible will be reused from the Think Tank
Improve the software and hardware
Advanced algorithms for better object avoidance
Vastly improved electrical and mechanical systems
Built to JAUS Specifications
Involve engineering students to actualize hardware solutions
IGVC Team 2006

10. Development Teams for IGVC 2006
Computer Science
Vision Systems
Movement Control
Mechanical Engineering
Propulsion Methods
Frame Design
Electrical and Computer Engineering
Wireless Capability
Power System
IGVC Team 2006

11. Concept Design for the Think Tank 2
Battery, Generator, or Fuel Cell Power Supply
On-board Laptop Computer with Wireless Link
Increased Mobility
Easy to Access Hardware Contained in a Reinforced Frame
IGVC Team 2006

12. Areas of Improvement Over Previous Robot Electronics
Extend operating time
Provide constant reliable voltage to motors and other electronics
Condense power supply into a single unit
Deep-cycle Battery
Gas generator (DC output)
Step Up Converter
Hydrogen Fuel Cell
Add the E-Stop emergency stop safety feature
IGVC Team 2006

13. Fuel Cell Concept 1.2 KW DC output – Useable Indoors and Outdoors
Safe and Environmentally Friendly
Weighs ~ lbs
~ 2.5 by 1.5 ft
$7,000 cost
A single $200 tank could last 6 days of continuous use at 100% load
Recommended DC-DC converter to smooth output and prevent excess power draw from motors
IGVC Team 2006

14. Fuel Cell Pictures
IGVC Team 2006

15. Power Options Deep-cycle Battery Gas generator (DC output)
Optima Blue-top Battery SC31DM
12 V battery, W max output, 60 lb, 2.5+ hour run time at 25 Amp Load
Gas generator (DC output)
Coleman Sport 1850
12 V DC, 180 W output, 70 lb weight
Honda EU1000i
12 V DC, 100 W output, 30 lb weight
IGVC Team 2006

16. Wireless Control - Omnex R161 Wireless Receiver
The R161 receiver has 19FET output
One E-Stop output for safe emergency shutdown of power to the output and external circuits
Designed to be switched to ground instead of battery
IGVC Team 2006

17. Omnex Origa T100 Transmitter
IGVC Team 2006

18. Omnex Origa T100 Transmitter
Trusted Frequency Hopping Spread Spectrum technology
Maintenance Item- Battery
High impact plastic exterior for rugged environments
IGVC Team 2006

19. Project Results

20. Department of Defense Satisfaction
Meets JAUS Standards
User Friendly
Plug-and-play
Wireless Capability
Excellent Product
Rugged
Reliable
Safe
IGVC Team 2006

21. Pedagogical Benefits Student Development Military Development
Interdisciplinary interaction
Development of a real-world product
New ideas and materials available for future senior project teams
Military Development
Provide for a need which currently has no solution
Save the lives of our soldiers
IGVC Team 2006

22. IEEE Issues Economic Environmental Manufacturing Ethics Health Social
Supports one of the major economies of the US - Defense
Environmental
Materials have little to no dangerous exhaust
Many parts can be reused
Manufacturing
Nearly all the materials are off-the-shelf
Ethics
Saves lives
Health
Exhaust is not dangerous
Comes with E-Stop and 5 mile an hour hardware limit
Social
Using technology to help soldiers is applauded by society
Legal
Materials purchased at educational cost will not be used for commercial purposes.
IGVC Team 2006

23. Thank You For Your Attention
We would like to hear any question, comments or suggestions at this time