2013 CSUF Boeing Case Competition ( Titan Consulting Proposal )
The CSUF Unmanned Utility Ground Robotic Vehicle Advisor: Dr. Jidong Huang.
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Transcript of The CSUF Unmanned Utility Ground Robotic Vehicle Advisor: Dr. Jidong Huang.
UUGRV
UUGRVThe CSUF Unmanned Utility Ground Robotic Vehicle
Advisor: Dr. Jidong Huang
GoalAutonomous Robot for daily tasksPrecise, efficient, reliable, consistent
Apply our research on other robots
Example Applications
Mechanical Design
Use of wooden platformUse for testing, cheap, easy modifications
Chain DriveCheap, easy to switch ratios, robust
Two motors drive with castersSharper turns, better control
Controller & Motor
Electric motorsSilent, no pollutions, precise controlEfficient and powerful using neodymium magnetsTorque: 1920 oz-in, 3HP; Light weight: 3.8 lbs.
Dual channels motor controllerControls two motors simultaneouslyPrecision drivingModular Design
Easily disassembledTransportation, storage, replacements
Wide range of utility modulesBlade, stretchers, brooms, etc. Electronic
Single Board Biscuit ComputerReceives signals from sensors Sends control commands to the microcontroller Micro ControllerTransform serial signals into PWMSends signals to motor controllersRouter for wireless controlSensorsGPSIMULMSControl SystemFast Heading response vs accuracyAdjustable acceleration
Kalman filterAllowing sensors to compensate each other
High Precision Dynamic Intelligent Obstacle Detection Algorithm(HPDIODA)Developed for applications that requires high precision obstacle detection and avoidance
No Obstacle Obstacle Detected SafetyDue to the power of this machine, safety is our first priority
Remote Laptop
Remote Radio Control
Emergency Stop Switch
Indication LightWork in ProgressApply tight integration using our IMU and GPSManufacture aluminum chassis and carbon fiber protection shellImplementation of Microsoft Kinect
Heading Demo Video
1. CSUF Intramural Funds2. CSUF ASI IRA Funds3. Team members:Yeh, Michael; Nguyen Bao;Wu Tuo; La Roque, Martin; Chen, Jared; El-Laithy, Riyad; Tran, Minh; Lin, XueJin; Woodland, John; Yu, Ivan; Liu, Siwei; Phung, Vy
Acknowledgements