New Jersey Autonomous

Vehicle

Brandon SchiffJason Scott

Jared Milburn

Comprised of one mechanical and two computer engineers

Construct vehicle to navigate through an obstacle course by GPS Waypoints

Improving previous model Compete in the 22nd Annual IGVC

Abstract

IGVC Frame Design Electronics Alogrithm Design Future Plans Budget

Table of Contents

The 22nd Annual Intelligent Ground Vehicle Competition

Oakland University in Rochester, Michigan June 6 – June 9, 2014

Ground Vehicle Autonomous Qualification Basic and Advance Courses

Intelligent Ground Vehicle Competition (IGVC)

Size◦Length – 3ft-7ft◦Width – 2ft-4ft◦Height – Under 6ft

Speed◦Average – 1 mph◦Minimum – 1 mph◦Maximum – 10

mph

Propulsion Emergency Stop

◦Wireless◦Mechanical

Safety Light Payload

◦18” x 8” x 8”◦20 Pounds

IGVC Rules and Regulations

Grass with Dashed Lines Natural and Manmade Objects Waypoints Colored Flags Fencing

IGVC Courses

IGVC Courses

Previous Frame

Stress Analysis

Compliance with IGVC Rules

Material Used

Frame Design

Analysis of previous team’s frame:

Left and right: deformation caused by load and laser range finder

Dimension

TCNJ Autonomous Vehicle

IGVC Specifications

Length 3’ 2.5” 3’ - 7’Width 2’ 2” 2’ – 5’Height 3’ 6” Max: 6’

• Still the best design iteration• Functional design• Cons have simple solutions• Allows focus to be shifted to ensuring

vehicle is fully operational• Blue Loctite used to lock bolts in place

IGVC Spec.

6105 T5 AluminumFractional T-slotted barsProduct Number: 1010Cross Sectional Dim.: 1.00” x 1.00”

E = 10,000ksiν = 0.33

Reasoning:• Budget Friendly• Lightweight• Machinable• Modular

Material

Electronics Overview

Allows the vehicle to be aware of it’s environment and location

Powered by two separate on-board batteries or laptop.

Laptop used for data processing of electrical components

Manual E-Stop Button

Wireless E-Stop Button

12 Volt BatteryRelay

Motor Controller

Motor

Optical Encoder

Motor

Optical Encoder

Microcontroller

Drive Train Diagram

Drive Train Propulsion Four Wheels, Two Wheel Drive NPC-42150 Motors

◦ DC Motors◦ Torque - 100 Psi◦ 93 Rpm◦ Previous Years

Motor Controller◦ Model – Sabertooth 2x25 V2◦ Controls both motors◦ Controlled through serial ports◦ Previous Years

Measure Wheel Speed Optical Encoder

◦ Attached to gear shaped Disk◦ LED Light◦ Voltage Pulses

Feedback System

Volta

geNo Tooth Tooth

h𝑤 𝑒𝑒𝑙 𝑠𝑝𝑒𝑒𝑑 𝑖𝑛 h𝑚𝑝 =∆ h𝑛𝑜𝑡𝑐 𝑒𝑠∆ 𝑡𝑖𝑚𝑒 (𝑠 )

∗ 1¿𝑜𝑓 h𝑛𝑜𝑡𝑐 𝑒𝑠 ∗𝐷 h𝑤 𝑒𝑒𝑙 𝑖𝑛 𝑓𝑡∗

1𝑚𝑖𝑙𝑒5280 𝑓𝑡 ∗

3600 𝑠1h𝑟

Used to navigate vehicle to given GPS location

Data sent via serial connection to Arduino port

Used in accordance with magnetometer

Global Positioning System (GPS)

Digital Compass

Reads current vehicle orientation Digital as opposed to analog compass Accompanies GPS system Arduino serial connection and power

Used to feed real time images of the course to our laptop

Primarily focused on line detection as opposed to object detection

Filters out unnecessary visual information through applying masks and focuses only on discovering white lines

Recognition of white lines fed into path planning algorithm

Webcam

Laser Range Finder

Short range laser used for object detection Properties Data sent via RS232-to-USB connection with

laptop Output

Laser Range Finder/GPS operating on two 12V batteries

Compass/Webcam/Warning Light/Motors and Motor Controller running on 12V

Sensors and vehicle operations communicates with Arduino Mega

Software-processing laptop sends and receives data with Arduino

Power Systems

Arduino Mega Outputs 3.3V and <50mA Powered and communicates with laptop via

USB Arduino IDE

Microcontroller

- Software - Hardware Components - Arduino - Laptop

GPS

Compass

Camera

Laser Range Finder

Microcontroller

Communication

Hub

Caution Light

D* Lite

Camera Softwar

e

C++ (Eclipse

IDE)

Arduino Softwar

e

Laser Range Finder

Software

RC and RC

Controller

Motors

Algorithms for the autonomous vehicle need to be robust and simple

Navigation and Path Planning algorithms are required for optimal performance

Navigation algorithm relies on utilizing the capabilities of the GPS and Compass while the Path Planning algorithm relies on the webcam and laser range finder

Algorithm Design

Determines the vehicle’s current position, maintains a list of waypoints, and keeps track of the vehicle’s progress

GPS must accurately determine and report the vehicle’s latitude and longitude

Compass must give the vehicle’s current heading

Navigation

Going to use D* Lite path planning D* is an assumption based algorithm useful

for when a robot needs to navigate to a given goal in unknown terrain

D* Lite works with the same functionality as D*, but it is simpler to understand and easier to execute

Path Planning

Path Planning

Previously◦ Matlab◦ Microsoft Visual Studio◦ Open CSV◦ Arduino IDE

Now◦ Eclipse C++ Language IDE◦ AVR-GCC Compiler◦ AVRdude

Software Used

Reproduce all MATLAB code in C++ Testing of C++ code Write path planning and navigation

algorithms Final program formulated using Microsoft

Visual Studio and OpenCV

Software Goals

Frame covering Full electrical system finalized, connected,

and run simutaneously RC controller configuration and testing New coding, testing and debugging

Future Plans

Spring◦ Finalize Frame and Drive Train◦ Path Planning Components Working in Sequence◦ Debugging and Testing

Summer◦ Final Testing and Preparation for IGVC

NJAV Future Plans

Budget

Budget Total Price

Mechanical $100.00

Electrical $122.90

Travel $1136.00

Total $1358.90

Dr. Jennifer Wang◦ Advisor – Professor of Mechanical Engineering – The College of

New Jersey

Dr. Orlando J. Hernandez◦ Advisor – Professor of Electrical and Computer Engineering – The

College of New Jersey  Mr. Joseph Zanetti

◦ Professional Services Specialist – School of Engineering – The College of New Jersey

Dr. Steven Schreiner◦ Dean of the School of Engineering – The College of New Jersey

Acknowledgements

New Jersey Autonomous Vehicle

◦ Jason Scott

◦ Jared Milburn

◦ Jonathan Sayre

Questions?