Autonomous Dual Navigation System Vehicle自治的双重导航系统的车辆.ppt

Autonomous Dual Navigation System Vehicle Dmitriy Bekker Sergei Kunsevich Computer Engineering Rochester Institute of Technology December 1, 2005 Advisor: Dr. Roy Czernikowski Outline Project overview System description Achieving objectives Vehicle motors Detailed system view Component interface Operational boundaries Sensor placement User interface System analysis GPS Wireless communication Sensor concerns Where we stand now Budgeting (key components) Project Overview – System Description Autonomous Dual Navigation System Vehicle A vehicle that can autonomously navigate itself to user specified waypoints while reporting and avoiding obstacles on the way. Vehicle base is a 1:6 model of Hummer H2 Uses two systems for navigation GPS Electronic compass and optical shaft encoder User interface from base station (through wireless connection) Vehicle can navigate without GPS (when no signal) Obstacles detected with rotating ultrasonic range finder Project Overview – Achieving Objectives Moving to a destination Determine angular orientation (compass) and distance to destination Turn towards destination and start moving Tracking vehicle movement With GPS (when available) With compass and optical shaft encoder Obstacles Detected with ultrasonic range finder Need to research suitable obstacle avoidance algorithms Project Overview – Vehicle Motors The vehicle will move using: One DC motor for forward / reverse motion of the rear wheels One servo motor to steer the front wheels The ultrasonic range finder will rotate using a second servo motor Front facing 180° rotation Detailed System Overview –Component Interface Detailed System Overview –Operational Boundaries For demo, the vehicle needs a flat surface with minimum or no surface particles (like snow, ice, rocks, etc) GPS capability can only be demonstrated outdoors Indoors the vehicle can only navigate using compass and optical shaft encoder Compass is sensitive to magnetic fields, so vehicle should be operated away f