Intelligent Vehicles and Systems Group
The Pennsylvania State University
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/9
EDSGN 100
EDSGN 100
Autonomous System Navigation
and
Driver Augmentation
Pramod Vemulapalli
Graduate Research Assistant
Intelligent Vehicles and Systems Group
The Pennsylvania State University
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/9
EDSGN 100
My Background : Robots , Simulators
and more
…
Intelligent Vehicles and Systems Group
The Pennsylvania State University
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EDSGN 100
Hardware
HONEYWELL
HG1700 IMU
CROSSBOW
IMU
SHARP
IR SENSOR
NOVATELL
GPS RECIEVER
HOKUYO
LASER
SICK
LASER
Intelligent Vehicles and Systems Group
The Pennsylvania State University
ψ
-
DAP
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/9
EDSGN 100
Intelligent Vehicles and Systems Group
The Pennsylvania State University
Reconstruction of the Road from the
Laser , GPS and IMU data
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EDSGN 100
Intelligent Vehicles and Systems Group
The Pennsylvania State University
How to choose sensors ?
Choosing Sensors must be done by a Cost
–
Benefit
analysis and by understanding the needs and resources
the design problem presents
Asking the right questions can save you $$$
6
/9
EDSGN 100
Intelligent Vehicles and Systems Group
The Pennsylvania State University
Some Questions that you might
want to ask about sensors
What is the power requirement ?
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/9
EDSGN 100
Intelligent Vehicles and Systems Group
The Pennsylvania State University
Some Questions that you might
want to ask about sensors
What is the sensing capability that is
required ?
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EDSGN 100
Camera
Lidar
GPS
What is the scan rate, accuracy , resolution ???
Intelligent Vehicles and Systems Group
The Pennsylvania State University
How are the sensors interfaced ?
How are the sensors interfaced ?
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EDSGN 100
USB
Serial Port
Analog
WIFI
Intelligent Vehicles and Systems Group
The Pennsylvania State University
Some Other Questions ?
What is the weight ?
What are the dimensions ?
What are the weather conditions ? …….
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/9
EDSGN 100
Intelligent Vehicles and Systems Group
The Pennsylvania State University
Basic System Architecture of an
Automated System
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POWER CIRCUITRY
SENSORS
COMPUTER
ACTUATORS
D
D
Intelligent Vehicles and Systems Group
The Pennsylvania State University
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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 Group
The 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 Group
The Pennsylvania State University
Network Based Architecture
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EDSGN 100
SENSORS
COMPUTER
ACTUATORS
S1
S4
S2
S3
COMPUTER
A1
A2
Direct Connection Architecture
COMPUTER
Intelligent Vehicles and Systems Group
The Pennsylvania State University
Network Based Architecture
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SENSORS
COMPUTER
ACTUATORS
S1
S4
S2
S3
COMPUTER
A1
A2
COMPUTER
Device Server
Device Server
HUB
COMPUTER
Intelligent Vehicles and Systems Group
The Pennsylvania State University
Lasers
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SICK LMS 291
Scan Rate : 75Hz
Range : 80 meters
Angle : 180
Price : $4400
Hokuyo
Scan Rate : 10Hz
Range : 4 meters
Angle : 270
Price : $2375
AR 1000
Range : 30 m
Angle : Line
AR 1000
Range : 200 m
Angle : Point
Intelligent Vehicles and Systems Group
The Pennsylvania State University
BAE Project
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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 Group
The Pennsylvania State University
Links
http://www.acuitylaser.com/products.shtml
http://www.acroname.com/robotics/parts/c_Sensors.ht
ml
http://www.sickusa.com
www.darpa.mil/
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EDSGN 100
Intelligent Vehicles and Systems Group
The Pennsylvania State University
Conclusion
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
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