LTU H2Bot II

Team Members:Marcus Randolph, Brace Stout, Gary Givental

Presentation Outline

Hardware Design Updates

Performance Software Design Simulation Demo

Hardware Features Inter-changeable power

source Fuel Cell Module Battery Module

PCB Power distribution Fail-safe Brakes LIDAR, Camera, Compass,

DGPS, Encoders New 3CCD camera Compass location changed DGPS antenna location changed

Performance

Curb Climbing: minimum 2.5” curb Max Speed: 4.2 mph Power Consumption: 50-150W Range: Fuel Cell 8 hrs, Battery 5 hrs Failsafe Brake Capacity: > 30% grade LIDAR Range: 8.1m

Key Software Features Completely Redesigned Software for 2007

JAUS Challenge Navigation Challenge Autonomous Challenge

Modular components Simulator Software

JAUS Challenge

JAUS module is a plug-in Extensible to support

more commands

Development Process Learning message

architecture Tested with JCTS test

suite Integration with H2Bot

modules

Navigation Challenge

Autonomous Challenge

Color Recognition

RGB / HSV Closest Color Threshold Based

Sensor Fusion LIDAR fused with video

input Integrated using Fuzzy

Logic Weighted inputs Fuzzy Rules are represented

by Area Maps Rules determine sensor

precedence

H2Bot Simulator

Why build a simulator? Platform Availability Concurrent Development Seasonal Considerations

H2Bot Simulator Design Goals H2Bot Interface Compatible

Drop-In replacement for actual hardware Realistic Response to Control Inputs Configurable / Extensible

Different courses Obstacle placement Different platforms New devices

Simulator Interface

H2Bot Simulator Design

MotorControl

ShaftEncoders

GPSPosition

CompassHeading

VideoImages

LaserMeasurement

Motor Drive &Platform Inertia

Modeling

Position &HeadingUpdate

3DEnvironment

Modeling

Right/Left RPM

Pos

ition

Hea

dingHardware Abstraction Layer

H2Bot Simulator Approach

Hardware abstraction layer Devices characterized with Java™ interfaces Physical and simulated device classes implement

the same interfaces Low-cost development using freely available

software Java 3D (for 3D simulation) Blender (for 3D modeling)

H2Bot Simulator Challenges

Timing Problem: 3D calculations can use lots of CPU so

simulation may not proceed in real-time Solution: Simulation time is tied to video frame

generation. All processing occurs based on simulation time.

Realistic environment Actual camera images used as textures

Summary

Innovation Vehicle Simulator Dual Power Modules Modular/Object-Oriented Software Design

Questions / Answers