1. Intelligent Ground Vehicle Competition LTU Senior Project Presenting to the Kern Foundation October 21 st

2. IGVC Team 2006 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

3. IGVC Team 2006 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. Sources: UMQuest, IGVC Home Page

4. IGVC Team 2006 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

5. IGVC Team 2006 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

6. Robotic Concept and Development

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

8. IGVC Team 2006 Previous Competition from Virginia Tech Gemini 2005Johnny-5Polaris

9. IGVC Team 2006 Results from Last Years Competition Placed 7 th 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

10. IGVC Team 2006 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

11. IGVC Team 2006 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

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

13. IGVC Team 2006 Areas of Development in Computer Software Object Identification Primitive Categorization and Relevance Hough Transform Genetic Algorithm Lemmings Elimination Binocular Vision

14. IGVC Team 2006 Areas of Development in Mechanical Engineering Motion System 3 wheeled 4 wheeled Treaded Frame and Body Aluminum or Carbon Fiber Composite Rugged Protection of Sensitive Electronics

15. IGVC Team 2006 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

16. IGVC Team 2006 Fuel Cell Concept 1.2 KW DC output – Useable Indoors and Outdoors Safe and Environmentally Friendly Weighs ~ 30-50 lbs ~ 2.5 by 1.5 ft $7,000 cost A single $200 dollar 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

17. IGVC Team 2006 Fuel Cell Pictures

18. IGVC Team 2006 Wireless Control Accessible E-Stop Big Red Buttons located: On the vehicle On a remote control Remote Control Wireless Access for Teleoperation and Programming

19. Development Budget

20. IGVC Team 2006 Sponsors BorgWarner Association for Computing Machinery Lawrence Technological University Computer Science Department Engineering Department

21. IGVC Team 2006 Projected Supply Costs Wheel and Motor Assembly Frame and Body Navigation Equipment Power System Misc. Hardware Total Supply Cost $550 $1000 $800 $1200 $250 $3800

22. IGVC Team 2006 Projected Capital Equipment Costs Hydrogen Fuel Cell GPS Antenna LIDAR MPC Laptop Total Capital Cost $7000 $0 $7000

23. IGVC Team 2006 Projected Outside Services and Final Costs The work of talented and dedicated LTU students $0 Total Overall Cost - $10,800 Current Funding Available - $5,500 Courtesy of BorgWarner and MCS Department

24. Project Results

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

26. IGVC Team 2006 Pedagogical Benefits Student 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

27. Recommended Links

28. IGVC Team 2006 Recommended Links LTU IGVC Homepage http://ltu164.ltu.edu/igvc/ DoD IGVC Homepage http://www.igvc.org/deploy/ University of Mississippi on Unmanned Military Vehicles http://www.olemiss.edu/depts/research/publications/umquest/20 04/Fall/a_mind_of_its_own.html http://www.olemiss.edu/depts/research/publications/umquest/20 04/Fall/a_mind_of_its_own.html Industry Sponsor BorgWarner http://www.bwauto.com/ Joint Architecture for Unmanned Systems http://www.jauswg.org/

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