Intelligent Vehicles and Systems GroupThe Pennsylvania State University

1/9 EDSGN 100

EDSGN 100 Autonomous System Navigation

and Driver Augmentation

EDSGN 100 Autonomous System Navigation

and Driver Augmentation

Pramod Vemulapalli

Graduate Research Assistant

Intelligent Vehicles and Systems GroupThe Pennsylvania State University

2/9 EDSGN 100

My Background : Robots , Simulators and more …

My Background : Robots , Simulators and more …

Intelligent Vehicles and Systems GroupThe Pennsylvania State University

3/9 EDSGN 100

HardwareHardware

HONEYWELLHG1700 IMU

CROSSBOWIMU

SHARPIR SENSOR

NOVATELLGPS RECIEVER

HOKUYOLASER

SICKLASER

Intelligent Vehicles and Systems GroupThe Pennsylvania State University

ψ-DAPψ-DAP

4/9 EDSGN 100

Intelligent Vehicles and Systems GroupThe Pennsylvania State University

Reconstruction of the Road from the Laser , GPS and IMU data

Reconstruction of the Road from the Laser , GPS and IMU data

5/9 EDSGN 100

Intelligent Vehicles and Systems GroupThe Pennsylvania State University

How to choose sensors ? How to choose sensors ?

Choosing Sensors must be done by a Cost – Benefit analysis and by understanding the needs and resources the design problem presentsAsking the right questions can save you $$$

6/9 EDSGN 100

Intelligent Vehicles and Systems GroupThe Pennsylvania State University

Some Questions that you mightwant to ask about sensors

Some Questions that you mightwant to ask about sensors

What is the power requirement ?

7/9 EDSGN 100

Intelligent Vehicles and Systems GroupThe Pennsylvania State University

Some Questions that you mightwant to ask about sensors

Some Questions that you mightwant to ask about sensors

What is the sensing capability that is required ?

8/9 EDSGN 100

Camera Lidar GPS

What is the scan rate, accuracy , resolution ???

Intelligent Vehicles and Systems GroupThe Pennsylvania State University

How are the sensors interfaced ?How are the sensors interfaced ?

How are the sensors interfaced ?

9/9 EDSGN 100

USB Serial Port Analog

WIFI

Intelligent Vehicles and Systems GroupThe Pennsylvania State University

Some Other Questions ? Some Other Questions ?

What is the weight ?What are the dimensions ? What are the weather conditions ? …….

10/9 EDSGN 100

Intelligent Vehicles and Systems GroupThe Pennsylvania State University

Basic System Architecture of an Automated System

Basic System Architecture of an Automated System

11/9 EDSGN 100

POWER CIRCUITRY

SENSORS

COMPUTER ACTUATORSD D

Intelligent Vehicles and Systems GroupThe Pennsylvania State University

12/9 EDSGN 100

POWER CIRCUITRY

Hokuyo Laser : 5V

Machine Vision Camera :12V

SICK Laser : 24V

Battery : 12v

Car Alternator : 10-15v

GPS :5 -18 V

Intelligent Vehicles and Systems GroupThe Pennsylvania State University

13/9 EDSGN 100

POWER CIRCUITRY

5V

12V

24V

Battery : 12v

Car Alternator : 10-15v

Charge Controller: 10-15v

Power Supply

Intelligent Vehicles and Systems GroupThe Pennsylvania State University

Network Based ArchitectureNetwork Based Architecture

14/9 EDSGN 100

SENSORS

COMPUTER ACTUATORS

S1

S4

S2

S3COMPUTER

A1 A2Direct Connection Architecture

COMPUTER

Intelligent Vehicles and Systems GroupThe Pennsylvania State University

Network Based ArchitectureNetwork Based Architecture

15/9 EDSGN 100

SENSORS

COMPUTER ACTUATORS

S1

S4

S2

S3

COMPUTER

A1 A2

COMPUTER

Device Server

Device Server

HUB

COMPUTER

Intelligent Vehicles and Systems GroupThe Pennsylvania State University

LasersLasers

16/9 EDSGN 100

SICK LMS 291

Scan Rate : 75HzRange : 80 metersAngle : 180Price : $4400

Hokuyo

Scan Rate : 10HzRange : 4 metersAngle : 270Price : $2375

AR 1000

Range : 30 mAngle : Line

AR 1000

Range : 200 mAngle : Point

Intelligent Vehicles and Systems GroupThe Pennsylvania State University

BAE ProjectBAE Project

17/9 EDSGN 100

Be innovative ! Would it be possible to connect them on a network !!!Check out the equipment that is already on a Humvee Do not forget to do a failure analysis

Intelligent Vehicles and Systems GroupThe Pennsylvania State University

LinksLinks

http://www.acuitylaser.com/products.shtml

http://www.acroname.com/robotics/parts/c_Sensors.html

http://www.sickusa.com

www.darpa.mil/

18/9 EDSGN 100

Intelligent Vehicles and Systems GroupThe Pennsylvania State University

ConclusionConclusion

What are the questions that you need to ask about sensors ?

What is power circuitry that is used in these systems?

What is a network based architecture and why is it better?

Lasers

19/9 EDSGN 100