Download - IGVC 2010 Presentation
LEO 10
LEO 10National University of SingaporeAnkit, Final Year EEDev Chandan, Final Year MEHitesh,Senior Year EE
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LEO10 Travels Half Way Across the Globe
Packed and Checked in
Assembled back
Team Structure
Design InnovationsLight WeightCompactModularPower Miser
System Design: MechanicalDrive Train4 Independent DrivetrainsDynamixel RX 64 Modular
Body DesignItem ProfilesAdjustable MountsIP 66 Containers Housing
PowerPower consumption reduced to 39%
Total Power Requirement of 90.59W. Optimized at speed of 0.5 m/s
Battery ManagementEasily replaceable batteriesLi-Po batteries: 25.9V 10 Ah & 14.8V, 7Ah Weight budget of 2.5kgs. Total Run time 2h 38 minutes at 25.9V and 6h 14 minutes at 14.8V. The battery voltages are stepped down to 18V, 12V and 5V respectively by Anyvolt 3 DC-DC converters and 25W Step down adjustable switching regulators.
System Overview
SystemWireless & Hardware Emergency StopWireless control Drivetrain Control SystemGlobal Motor Control, Local Motor Control.
Output Power to the motor 25.9V to 18V DC-DC converter RS485 Breakout board for RX64 Communication Encoder InputArduino Mini MicrocontrollerI2C Connection to Global Motor Control18V to 5V Converter
System Design : SoftwareRobot Operating System3 Main Parts:Obstacle DetectionImage ProcessingOdometry/GPS (Pose Estimation)
Software system: ROS
Why ROS?Open SourceStable & RobustIntegrated:OpenCVPlayer/Stage, GazeboSupports both C++ and Python
Software System: Lane Detection
Lane Detection
Path Planning with Costmap 2D
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Path Planning
Inflated CostsLocal PathGlobal Path
GPS NavigationDynamic sorting of waypoints
Choose shortest waypoint
Convert to UTM:Provide goal to robot
When done, remove goal and resort
3D LIDAR Point Clouds using PCL Library
Detect ramps etc.Objects otherwise considered obstacles
Pose Estimation: EKFExtended Kalman Filter
Takes data from:OdometryGPSIMU
Accurate Pose/Position Estimation
Simulation & TestingPioneer 3DX model in Gazebo
Appendix
Mechanical DataSheetLength1.10 mWidth0.64 mHeight1.49 mWeight(without payload)23 kgGround Clearance0.05mPayload Capacity20 kgWheel Diameter 8 inchesMaximum Speed(80% Efficiency)1.85 m/sOperational Speed 5 m/s