View
214
Download
2
Tags:
Embed Size (px)
Citation preview
Intelligent Ground Vehicle Competition 2006
Brigham Young University
The Challenge:To design and build a fully autonomous robot capable of
traversing an obstacle course
while staying within the white
boundaries. The fastest robot wins!
The 14th Annual Intelligent Ground Vehicle Competition
Selfridge Air National Guard Base Harrison Township, Michigan
June 10 - 12, 2006
www.igvc.org
Pledge Your Support
The logos of our sponsors of the project will be prominently displayed on our robot and website. We are committed to the success of this project and to helping our sponsors receive recognition for their essential role.
As the following slide explains, it will cost roughly $16,000 to build the robot and $12,000 to attend the competition. Any contribution you can make will help us implement our powerful algorithms with the latest technology.
Major Expenses
• Sensors: $10,000–Color cameras, Three Axis Compass, GPS, Laser range finder
• Electrical System: $3,000– Laptop or Small PC, Microcontroller boards, Frame capture boards
• Mechanical System: $3,000– Replacement motors, Fiberglass exterior, Treads, Wheel Encoders, Bearings
• Team Expenses: $12,000– Transportation of Team and Robot to the Competition
Senior Project Teams 2005
2005 SuccessLast year’s entry from
BYU took 5th place among 37 teams from across the
world! This was also BYU’s first year to
ever participate in the competition.
Design FeaturesA single camera guided the robot around obstacles
and navigated within the
boundaries.
Design Features
Image processing took place on a Pentium III
system which translated the real-time
visual input into steering commands.
The laptop shown was used for testing the
various subsystems.
Design FeaturesA motorized wheelchair
chassis with independently
controlled wheels allowed the robot to turn on a dime. The robust motors and
gearboxes performed extremely well on the terrain of the course.
Looking Ahead…
Inspired by the extraordinary success of last year’s team, a new group of 12 electrical and
computer engineering students is determined to win this year’s competition.
BYU’s 2005 team faced difficult time and budget constraints, but we will improve on their design:
- Unpowered front wheels swerved on slopes
New tread design provides excellent stability
- Wheels did not include feedback about distance traveled
Wheel encoders will record distances within inches
- Unoptimized frame buffering slowed image processing
New capture boards and frame processing
- Limited funds only allowed for a single camera
Sponsors will make stereo vision and distance sensing feasible
Challenges
We are confident that we can win by:
• Intelligent computing: path planning including short-term memory of the robot’s immediate surroundings and learned reflexes built on familiar situations
• Sensory Input: More advanced sensors will allow us to recognize obstacles quickly and accurately and navigate without sacrificing speed
Concept Drawings of Y-clops
Design Decisions:• Tank tracks on our wheels will decrease
slippage, ensuring the robot will not veer off course on slopes and inclines. They will also make sure our wheel encoders accurately measure distance traveled
• A fiberglass or polymer shell will give our robot a sleek look as we compete in the design competition, and allow us to prominently display logos of our sponsors
Conclusion:• Last year, on a shoestring budget and with
only six months to prepare, our team came in 5th out of 37 teams.
This year, with more time to
prepare and more resources, we’re confident we can win this competition!
Intelligent Ground Vehicle Competition 2006
Brigham Young University
http://yclops.ece.byu.edu