Intelligent Ground Vehicle Competition 2006

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Intelligent Ground Vehicle Competition 2006

• Brigham Young University

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The Challenge

• To design and build a fully autonomous robot
  capable of traversing an obstacle course while
  staying within the white boundaries. The fastest
  robot wins!

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The 14th Annual Intelligent Ground Vehicle
CompetitionSelfridge Air National Guard Base
Harrison Township, Michigan June 10 - 12,
2006www.igvc.org
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Pledge Your Support

• The logos of our sponsors of the project will
  be prominently displayed on our robot and
  website. We are committed to the success of this
  project and to helping our sponsors receive
  recognition for their essential role.
• As the following slide explains, it will cost
  roughly 16,000 to build the robot and 12,000 to
  attend the competition. Any contribution you can
  make will help us implement our powerful
  algorithms with the latest technology.

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Major Expenses

• Sensors 10,000
• Color cameras, Three Axis Compass, GPS, Laser
  range finder
• Electrical System 3,000
• Laptop or Small PC, Microcontroller boards,
  Frame capture boards   
• Mechanical System 3,000
• Replacement motors, Fiberglass exterior, Treads,
  Wheel Encoders, Bearings
• Team Expenses 12,000
• Transportation of Team and Robot to the
  Competition

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Senior Project Teams 2005
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2005 Success

• Last years entry from BYU took 5th place among
  37 teams from across the world! This was also
  BYUs first year to ever participate in the
  competition.

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Design Features

• A single camera guided the robot around obstacles
  and navigated within the boundaries.

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Design Features

• Image processing took place on a Pentium III
  system which translated the real-time visual
  input into steering commands.
• The laptop shown was used for testing the various
  subsystems.

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Design Features

• A motorized wheelchair chassis with independently
  controlled wheels allowed the robot to turn on a
  dime. The robust motors and gearboxes performed
  extremely well on the terrain of the course.

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Looking Ahead

• Inspired by the extraordinary success of last
  years team, a new group of 12 electrical and
  computer engineering students is determined to
  win this years competition.

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Challenges
BYUs 2005 team faced difficult time and budget
constraints, but we will improve on their design
- Unpowered front wheels swerved on
slopes New tread design provides excellent
stability - Wheels did not include feedback
about distance traveled Wheel encoders will
record distances within inches - Unoptimized
frame buffering slowed image processing New
capture boards and frame processing - Limited
funds only allowed for a single camera
Sponsors will make stereo vision and distance
sensing feasible
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• We are confident that we can win by
• Intelligent computing path planning
  including short-term memory of the robots
  immediate surroundings and learned reflexes built
  on familiar situations
• Sensory Input More advanced sensors will allow
  us to recognize obstacles quickly and accurately
  and navigate without sacrificing speed

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Concept Drawings of Y-clops
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• Design Decisions
• Tank tracks on our wheels will decrease
  slippage, ensuring the robot will not veer off
  course on slopes and inclines. They will also
  make sure our wheel encoders accurately measure
  distance traveled
• A fiberglass or polymer shell will give
  our robot a sleek look as we compete in the
  design competition, and allow us to prominently
  display logos of our sponsors

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• Conclusion
• Last year, on a shoestring budget and with
  only six months to prepare, our team came in 5th
  out of 37 teams.
• This year, with more time to
• prepare and more resources, were confident
  we can win this competition!

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Intelligent Ground Vehicle Competition 2006

• Brigham Young University

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http//yclops.ece.byu.edu