Autonomous People Mover Phase II - Sensors P MSD 1 - FINAL DESIGN REVIEW

Transcription

1 Autonomous People Mover Phase II - Sensors P MSD 1 - FINAL DESIGN REVIEW 1

2 The Team Member Role Program Nathan Biviano Project Manager & Integration IE Madeleine Daigneau Software Design & Hierarchy CE James Danko Sensor Integration EE Connor Goss Microcontroller Integration CE Austin Hintz Camera & Sensor Integration EE Sam Kuhr Power Systems EE Benjamin Tarloff Engineering Lead & Mounting ME 2

3 Agenda Background Design Project Background Team Overlap Scope Customer Requirements Engineering Requirements Risk Assessment Power Sensors Wiring Schematic Controls CAD Drawings Software Demo Budget Update MSD 2 Test Plan 3

4 Feedback Topics Voltage Converter Arduino Due vs. Mega Controls Update in the Summer Software Please give feedback on any topics you have suggestions for. 4

5 Project Background The Rochester Institute of Technology wishes to re-enter the field of research in vehicle autonomy. Autonomy is becoming more and more important as automotive standards leave fewer vehicle functions to the human user. Autonomous vehicles offer significant improvements in roadway safety and traffic flow. The base of this project is the work started by the Autonomous People Mover Phase I team. 5

6 Team Overlap & Integration *Does not depict true amount of overlap. 6

7 Phase I Remote Control Manual Override Project Scope Phase II Autonomous Forward Drive Static Object Detection & Avoidance Closed Course Remote and Manual Override Phase III+ Full Autonomy (forward & reverse) Interface with user Object Identification & Avoidance Static & Dynamic Objects 7

8 Customer Requirements 8

9 Engineering Requirements 9

10 Risk Assessment 10

11 Power 48 V 12 V o 12V Auxiliary battery for Phase I Processing Introducing W Max Current: A mah mah Battery life 2.62 hours 1.50 hours 11

12 Voltage Converter Selected the VFK600-D48-S12 from previous review Most options cost approximately the same (~$450) or more Best documentation Fewest points of failure 12

13 Sensors - LIDAR Velodyne VLP-16 LiDAR Puck The puck connects directly to the interface box Interface box connects to Ethernet switch on internal LAN The VLD-16 will come with software, making this a plug and play sensor Ordered, arriving in July/August 13

14 Sensors - Ultrasonic MB7001 LV-MaxSonar-WR1 Long range, weatherproof Range: 0.3m to 6.45m Three sensors across bumper Integrated with Arduino Consumer Parking Sensors Short range, weatherproof Range: 0.3m to 2m Four possible sensors 14

15 Sensors - GPS GlobalSat EM-506 Purchased during Phase I Accuracy of +/- 2.5m, 1Hz Communicates over RS-232 serial, 4800 Baud NMEA-compatible ROS Library 15

16 Sensors - GPS We have sample code that we can work from We will be using waypoints We are currently looking into Dijkstra s algorithm but this is more than likely outside of our scope 16

17 Sensors - Cameras Hikvision DS-2CD2032-I 3MP, 1080p, 30fps Communicates over 10/100 Ethernet Internal LAN on Golf Cart for connecting LIDAR, both cameras and the processing computer Linux support, NAS Delivered 17

18 Sensors - RADAR No word received from Freescale Not expected to be be implemented during Phase II If donated, will likely be integrated during Phase III 18

19 Processing - Desktop AMD A K (4 cores) Embedded AMD R7 Graphics 16GB RAM 120GB SSD 64-bit Ubuntu x USB Ports (4x 3.0, 6x 2.0) 2x Gigabit Ethernet Interfaces DVI, HDMI, VGA Max Power: 145W 19

20 Power - Desktop PWR-M4-ATX 48V ATX Power Supply Onboard USB Monitoring Includes ATX Mounting kit with cooling 20

21 Processing - Microcontrollers Arduino Due x3 Phase I System Integrating GPS Retaining most functionality 21

22 Processing - Microcontrollers Arduino Mega Located at front of cart, connected to computer via USB Ultrasonic Sensors Dashboard lights (if necessary) Similar to Due, with 5V Processor 22

23 Processing - Microcontrollers Arduino Micro Located at rear of cart, connected to computer via USB Vtach Speed Sensor Received from Wandering Ambassador 23

24 Power Diagram 24

25 Wiring Schematic 25

26 Phase 1 Overlay 26

27 Wiring Diagram 27

28 Controls - Braking and Throttle Remote Controll er Computer Actuator Controller Receiver ucontroller Braking Actuator Gas Pedal Motor Brake Pedal 28

29 Controls - Steering Remote Controller Radio Receiver Computer ucontroller WickedBilt Power Steering System Current Steering Column 29

30 Dual Camera Mount Camera Bases Camera Base Plate Angled Base 30

31 LiDAR Mount LiDAR Ball Mount Ball Mount Base Cart Roof 31

32 Computer Mount 32

33 Polycarbonate Windshields Polycarbonate 3/16 in. thick 33

34 Software Diagrams 34

35 Software Diagrams 35

36 Software Diagrams 36

37 Software Diagrams 37

38 Software Diagrams 38

39 Software Diagrams 39

40 Polysync vs. ROS Update 40

41 Polysync vs. ROS Update 41

42 ROS Demonstrations 42

43 Bill of Materials/Budget Current Budget Remaining: $1, After Estimated Costs: $

44 Bill of Materials/Budget 44

45 MSD 2 Plan Test Velodyne LiDAR to read output & setup ROS Nodes* Test Arduino Mega for proper functionality* Test power converter to make sure outputs 12V w/ min ripple* Mark cart for sensor placement* Test controls for functionality* Create detailed plan for the semester of MSD 2* Mount sensors Connect sensors, arduinos, computer *Done within first 2 weeks of MSD 2 45

46 Test Plan 1. Measure all lines for proper signals and ensure all connections are properly made. 2. Power up only essential systems and run a signals check. 3. Run simplified codes to ensure proper circuit operation prior to hooking up to physical systems. 4. Begin by testing only individual systems to ensure safety. 5. Test control system code at standstill conditions for steering and braking prior to introducing throttle system. 6. Test Throttle and Steering Integrated Control system without steering control system (manually steering) 7. Test Steering Control System without throttle or Brake. 8. Integrate All control system with low limit on speed (2mph) 9. Slowly Ramp up speed to 5mph and possibly higher time depending 10. Re-characterize golf cart and begin to smooth out and non-ideal behavior 11. Test the ultrasonic sensors on accuracy for different materials, distances, and angles 12. Figure out how the lower quality ultrasonic sensors work 13. Test radar for accuracy for different materials, distances, and angles 46

47 Test Plan 14. Test LiDAR for accuracy for different materials and distances 15. Record LiDAR and Camera Data during test drive 16. Test GPS for accuracy 17. Test GPS waypoint program for GPS navigation (after testing controls) 18. Test obstacle detection (with cardboard box) 19. Test obstacle avoidance 20. Test path detection 21. Test calibration process to ensure everything is calibrated correctly 22. Test to see if E-stop is working properly 23. Test to see if Radio controller is working properly 24. Test to see speed vs voltage for throttle 25. Test to see what inputs are needed to get the brakes to work properly 26. Test to see what inputs get what steering outputs (wheel position) 27. Test holes in roof to ensure waterproof seals. 47

48 Feedback Can we purchase the 48V to 12V converter? Can we purchase the Arduino? (Do we need to order?) 48

49 Questions? 49