Autonomous Attack Tank

1
Autonomous Attack Tank

• By Steven Chen, Shabnam Khan, Man Hung (David)
  Leung and Ronald Lin
• Professor Hamblen
• ECE4006-A
• Spring 2006

2
Overview

• The AAT was developed as a prototype military
  sentry robot designed to patrol and defend a
  given area
• Currently employs a visual targeting system that
  tracks color blobs
• Once the AAT acquires its target, it will drive
  up to an appropriate distance, and fire upon it.

3
Project goal

• The main goal of the prototype is to have the AAT
  patrol a set of hallways and fire upon targets of
  a given color
• While patrolling the hallway, the AAT should try
  to stay as close to the center as possible

4
The Design

• The design features a striped down RC tank,
  upgraded with an Altera FPGA board to act as its
  onboard computer, and various additional sensors
• One design goal was to try to keep the original
  tanks RC form factor by embedding most of the
  components within the tank body
• In addition to targeting system, a collision
  avoidance and guidance system were also
  implemented

5
Technical Highlights

• Altera UP3 development board
• 7 sonar sensors 5 mounted in front 2 on the
  side
• 2 wheelwatchers one on each tread
• 2 compasses used mainly for turrent/tank
  alignment
• 3 battery packs 4.8 V, 6 V, 9.6 V
• CMU camera used for targeting system
• Upgraded automatic airsoft gun with 50 mps muzzle
  velocity

6
Target Acquisition

• CMUcam2
• Tracking / Turning Turret
• Turret rotation speed based on position relative
  to center of cam
• Transfer function to determine speed
• Firing gun after target center of mass is at or
  near middle of cams view

7
Demo Video
Color Blob Tracking
Tracking and Firing
8
Navigation Main Goals

• Stay center
• Obstacle avoidance

9
Demo Pictures
10
General Overview
11
Actual Schedule
12
Questions?

• ?