Introduction
 Background and Marketing – Ben Kuhlman
 Robot – Troy Wohlfert
 Global Positioning System – Laura O’Rear
 LADAR – Stephen Sherman
 System Design – Matt Knollman
 Navigation and Control – Alex Hain
Markets for Our Product
One-Third of all military vehicles by 2015
Current Military Applications
Future Applications
Detection, Heavy Combat, Monitoring
 Possible Civilian Applications
Agriculture, Materials Handling, Mass
Transportation, Automobile enhancement
Robotics Development
Current Civilian Applications
 AGVs, Robotic Arms, Smart Appliances.
Automated Highway Systems Disappointment
National Automated Highway System Consortium
Challenges for the Future of Robotics
Darpa
Defense Advanced Research Project Agency
Department of Defense
 Armed forces a decisive edge
Grand Challenge
 Race between Barstow and Las Vegas
$1 Million Prize
 Rough Terrain
 fencing
 water
 bushes
ATRV-2
 Manufactured by IRobot
 Off-Road capabilities
 220 lbs load capacity
 2 m/s maximum speed
 Application for Darpa
Global Positioning System
(GPS)

How GPS Works:
 24 satellites broadcast on two frequencies:
 L1 (1575.42 MHz), C/A code and P(Y) code
 L2 (1227.60 MHz), P(Y) code
 P(Y) code
 C/A code
 Pseudo-random Noise
 Contains almanac of satellite (SV) positions
 Contains ephemeris, SV position corrections
 Distance (from SV) = Velocity x Time
 Velocity is approx. the speed of light 3.0*108 m/sec
 Time is the delay needed to match pseudo-code
 Trilateration (for position calculation)
 Requires min. of 4 satellites
 Four equations with four unknowns
www.garmin.com
GPS Application
 NovAtel Propak-LB-L1/L2 Receiver
 10 cm level accuracy, 10 Hz
 30 ~ 50 sec acquire time
 3.7 Watts, 7 to 15 V DC input
 Output
 3 RS-232 serial
 PPS (pulse per second)
 Rugged design
 NovAtel GPS-600-LB Antenna
 Tracks SVs up to 15° below horizon
LADAR
 LAser Detection And Ranging
 How it works
]
LADAR
 Our Model: Sick LMS 30206
Specs
 Range: 80m
 Angular Resolution: .25o, .5o, 1o (selectable)
 Image Resolution: 10mm
 large power consumption (20~140 W)
Placement
 Front center of ATRV angled Downward
System Overview
Sensor System
RS-232
External
Computer
Control System
Ethernet
(Pentium M / Via C3)
Onboard
Computer
LADAR Sensor
(Pentium III)
RS-232
RS-232
Onboard Motor
Controller
GPS Unit
Motor
Motor
Motor
Motor
Sensor System Tasks
Control System Tasks
 Data acquisition
 Signal processing / Filtering
 Map generation
 Path planning
 Integration of high and low-level sensor data
 Motor control
Computer Hardware
Sensor Computer
 EPIA PD 1000
–
–
–
–
1 GHz Via C3 CPU
4 serial ports
Dual Ethernet ports
Small 17cm x 17cm footprint
Power Supply
 DC-DC converter
– 80 Watt output
– Wide input voltage range (11-30V)
Storage
 512MB Compact Flash card
Software
Linux OS
 Free (GPL)
 Scalable and very powerful
Sensor Software
 Use existing API to interface with LADAR
 Generate virtual map of environment
 Client / Server architecture
Control Software
 Integrate data from LADAR and GPS
 Identify obstacles
 Generate driving path
 Use existing API to interface with ATRV-II
GUI (Display Software)
 Relay robot position and LADAR map to user
 Use Mobility Robot Integration API
 Communicate with vehicle via wireless Ethernet link
Navigation and Tracking
 GPS used for broad view
 LADAR used for immediate area
 Brute force used when GPS fails
Diagram of Navigation Control
Driving
Check
GPS
s
Lo
s
o
Directi
PS
fG
on Cha
nge
Adjust driving
direction (GPS)
Drive
Continue driving in
current direction
while regaining
signal (30-50
seconds)
Check
LADAR
Obs
tr
ucti
on
Rotate LADAR to
check for
immediate way
around
No
Go Right
Yes
Go around
Conclusion
ATRV-2 test platform
GPS is used for accurate positioning
LADAR is used for object avoidance
Use of multiple computer systems mimics
actual DARPA vehicle
Robust and accurate control system
Simple AI, reduced complication
Questions?