autonomous vehicles derek smith eku dept. of technology computer electronic networking
TRANSCRIPT
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Autonomous Vehicles
Derek SmithEKU Dept. of Technology
Computer Electronic Networking
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OUTLINE Motivation: DARPA Grand Challenge and NAIT Introduction: The purpose of autonomous
vehicles and future roles Problem Statement: NAIT’s settings for the
new competition Proposed Solutions: Possible answers Results: Video and Explanations Conclusion: New understanding and Learning Future Work: Possible extensions to my work Questions Thanks
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MOTIVATION The DARPA Grand
Challenge was a great inspiration to me.
Along with a 2 million dollar prize.
NAIT played a big role in my motivation as well.
http://media.pbs.org/asxgen/general/windows/wgbh/nova/darpa_outt_03_220.wmv
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INTRODUCTION The issue with producing an
autonomous vehicle is that everything that can, always will go wrong.
Argo was a major part of my research. The DARPA Grand Challenge
How autonomous vehicles work properly The direction in which they are headed in
the near future.
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ARGO – A Linux based autonomous vehicle
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William “Red” Whittaker
Carnegie Mellon University's William "Red" Whittaker and the Red Team's Sandstorm vehicle
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PROBLEM STATEMENT
The National Association of Industrial Technology Added an autonomous component to
the annual robotics competition The robot must be able to follow a 1 ½
inch strip of reflective aluminum tape Creating a need for understanding
autonomous vehicles
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PROPOSED SOLUTION To Solve this I went through many
possibilities: Calibrating and adjusting the infrared
detectors I have. Purchasing close proximately infrared
detectors. Creating a light sensitive circuit that reflects
light off the tape Creating a circuit sending voltage through
the tape and receiving the information
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Proposed Solution
My solution was to create the circuit that ran voltage through the tape.
Other methods need constant revision The circuit method is simplistic It only deals with one main variable Less things to go wrong
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RESULTS It worked, not quit to
where I wanted it, but it still works.
Problems that resulted: At higher speeds
handling has problems. The directional decisions
are entirely too slow The bot does all the
tasks that are required at this point.
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Results
To the right is my code
Below is the main circuit
' {$STAMP BS2}' {$PBASIC 2.5}
DEBUG "Program Running!"
voltdetector1 VAR Bitvoltdetector2 VAR Bitvoltdetector3 VAR Bitvoltdetector4 VAR Bit
DO DEBUG CLS voltdetector1 = IN0 voltdetector2 = IN1 voltdetector3 = IN2 voltdetector4 = IN3IF (voltdetector2 = 0) AND (voltdetector3 = 0) THEN DEBUG "Moving Forward" PULSOUT 13, 850 PULSOUT 12, 650 ELSEIF (voltdetector2 = 1) THEN DEBUG "Front Left is off track" PULSOUT 13, 850 PULSOUT 12, 850 ELSEIF (voltdetector3 = 1) THEN DEBUG "Front Right is off track" PULSOUT 13, 650 PULSOUT 12, 650 ENDIF
LOOP
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CONCLUSIONS Not yet ready for the DARPA Grand
Challenge We have made head way for NAIT next year That is, if my predecessors don’t squander their
time and resources. Understanding an autonomous vehicle was
the goal of this project I have obtained that goal I’m still in awe of the capabilities out there, but
I at least know the basics of how they work.
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FUTURE WORK Possible extensions
Add vision analyses, nothing big
Create infrared mapping
And possibly add GPS Any suggestions will
be very welcome, email me at [email protected]
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Questions
Does anyone have any Questions?
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THANK YOU
Thank you for your time and attention!