Intelligent Ground
Vehicle Competition
LTU Senior Project
Presenting to the Kern
Foundation
October 21st
What is the Intelligent Ground
Vehicle Competition about?
University project teams
 Unmanned, unguided, independently
acting robotic ground vehicles
 Navigation and obstacle avoidance
 Competition held at Selfridge Air Force
Base

IGVC Team 2006
Why does the Department of
Defense host IGVC?



The Department of Defense stated before
Congress that they would have 1/3 of their ground
vehicles made autonomous by 2015
However, no such vehicles have yet been made
DoD sponsors IGVC to encourage college
students to develop the field of unmanned ground
vehicles.

“The IGVC offers a design experience that is at
the very cutting edge of engineering education.
It is multidisciplinary, theory-based, hands-on, team
implemented, outcome assessed, and based on
product realization. It encompasses the very latest
technologies impacting industrial development and
taps subjects of high interest to students.”
IGVC Team 2006
Sources: UMQuest, IGVC Home Page
Winning the IGVC


“A fully autonomous unmanned ground robotic vehicle
must negotiate around an outdoor obstacle course under
a prescribed time while staying within the 5 mph speed
limit, and avoiding obstacles on the track.”
Ranking based on:




+ Time taken
+ Distance traveled
-- Penalties
Penalties incurred by:

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
Obstacle collisions
Pothole hits
Boundary crossings
IGVC Team 2006
Joint Architecture for Unmanned
Systems - JAUS

User-Friendly
 Simple
Interface
 Easy to Maintain
 E-Stop

Forward-Compatible Design
 Plug-and-play
 Capable
of using new hardware or software
 Set to Wireless Standards
IGVC Team 2006
Robotic Concept
and Development
Previous Robot
Forwardlooking
camera
On-board
Laptop
Computer
LIDAR
Multiple 12V
Battery Power
Supply
Two Wheel
Drive
IGVC Team 2006
Previous Competition from Virginia
Tech
Gemini 2005
Polaris
IGVC Team 2006
Johnny-5
Results from Last Year’s
Competition

Placed 7th Overall
 Vision
systems and path-finding worked
admirably

Was unable to complete the course
 Occasional
mistakes by the navigation
software
 Could not climb the moderate inclines
 Battery did not last the entire course
IGVC Team 2006
New Plan for the 2006 Competition

Build a new robot
 As
few parts as possible will be reused from the Think
Tank

Improve the software and hardware
 Advanced
algorithms for better object avoidance
 Vastly improved electrical and mechanical systems
 Built to JAUS Specifications

Involve engineering students to actualize
hardware solutions
IGVC Team 2006
Development Teams for IGVC 2006

Computer Science



Mechanical Engineering



Vision Systems
Movement Control
Propulsion Methods
Frame Design
Electrical and Computer
Engineering


IGVC Team 2006
Wireless Capability
Power System
Concept Design for the
Think Tank 2
On-board Laptop
Computer with
Wireless Link
Battery, Generator,
or Fuel Cell Power
Supply
Increased
Mobility
Easy to Access
Hardware
Contained in a
Reinforced Frame
IGVC Team 2006
Areas of Development in Computer
Software

Object Identification
 “Primitive”
Categorization and
Relevance
 Hough Transform
 Genetic Algorithm
 “Lemmings”
Elimination
 Binocular Vision
IGVC Team 2006
Areas of Development in
Mechanical Engineering

Motion System
3
wheeled
 4 wheeled
 Treaded

Frame and Body
 Aluminum
or Carbon
Fiber Composite
 Rugged Protection of
Sensitive Electronics
IGVC Team 2006
Areas of Improvement Over
Previous Robot Electronics



Extend operating time
Provide constant reliable voltage to motors and
other electronics
Condense power supply into a single unit
 Deep-cycle
Battery
 Gas generator (DC output)
 Step Up Converter
 Hydrogen Fuel Cell

Add the E-Stop emergency stop safety feature
IGVC Team 2006
Fuel Cell Concept







1.2 KW DC output – Useable Indoors and Outdoors
Safe and Environmentally Friendly
Weighs ~ 30-50 lbs
~ 2.5 by 1.5 ft
$7,000 cost
A single $200 dollar tank could last 6 days of continuous
use at 100% load
Recommended DC-DC converter to smooth output and
prevent excess power draw from motors
IGVC Team 2006
Fuel Cell Pictures
IGVC Team 2006
Wireless Control

Accessible E-Stop Big
Red Buttons located:
 On
the vehicle
 On a remote control


Remote Control
Wireless Access for
Teleoperation and
Programming
IGVC Team 2006
Development
Budget
Sponsors
BorgWarner
 Association for Computing Machinery
 Lawrence Technological University

 Computer
Science Department
 Engineering Department
IGVC Team 2006
Projected Supply Costs





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Wheel and Motor
Assembly
Frame and Body
Navigation Equipment
Power System
Misc. Hardware
Total Supply Cost

$550

$1000
$800
$1200
$250
$3800




IGVC Team 2006
Projected Capital Equipment Costs



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Hydrogen Fuel Cell
GPS Antenna
LIDAR
MPC Laptop
Total Capital Cost





$7000
$0
$0
$0
$7000
IGVC Team 2006
Projected Outside Services and
Final Costs

The work of talented
and dedicated LTU
students

$0
Total Overall Cost - $10,800
Current Funding Available - $5,500
Courtesy of BorgWarner and MCS Department
IGVC Team 2006
Project Results
Department of Defense Satisfaction

Meets JAUS Standards
 User
Friendly
 Plug-and-play
 Wireless Capability

Excellent Product
 Rugged
 Reliable
 Safe
IGVC Team 2006
Pedagogical Benefits

Student Development
 Interdisciplinary
interaction
 Development of a real-world product
 New ideas and materials available for future senior
project teams

Military Development
 Provide
for a need which currently has no solution
 Save the lives of our soldiers
IGVC Team 2006
Recommended
Links
Recommended Links

LTU IGVC Homepage


DoD IGVC Homepage


http://www.olemiss.edu/depts/research/publications/umquest/200
4/Fall/a_mind_of_its_own.html
Industry Sponsor BorgWarner


http://www.igvc.org/deploy/
University of Mississippi on Unmanned Military Vehicles


http://ltu164.ltu.edu/igvc/
http://www.bwauto.com/
Joint Architecture for Unmanned Systems

http://www.jauswg.org/
IGVC Team 2006
Thank You For Your
Attention
We would like to hear any
question, comments or
suggestions at this time