Information, Announcements, Links
|
|
| Photo |
|
| [HTM]
| Photo Gallery
|
| [HTM]
| ERTS Test Field, April 3, 2007
| | Video |
|
| [MP4]
| (13 Mb) GPS tour, high perspective
|
| [MP4]
| (14 Mb) GPS tour, ground-level
|
| [MP4]
| (12 Mb) GPS tour w/ safety-driver
|
| [MP4]
| (6 Mb) Vehicle walk-around
|
| [AVI]
| (5.3 Mb) Simulation, GPS following with basic obstacle avoidance
|
| Info |
|
| [HTM]
| IUCS Autonomous Golf Cart Project repository
|
| [PDF]
| ERTS Architecture [B. Himebaugh, 2008]
|
| [PDF]
| Poster, SOI Open House, September 2008
|
| [PDF]
| CVE'09 presentation, October 2008
|
| [PDF]
| IRVMCS'09 presentation, June 2009
|
| Field Trials |
|
| [HTM]
| Field Trial Safety Rules
|
| [HTM]
| 2009 Class Project Field Trials, December 7, 2009
|
| [HTM]
| 2008 Class Project Field Trials, December 17, 2008
|
| [HTM]
| 2007 Class Project Field Trials, April 27, 2007
|
|
| About P545
|
| CSCI P545 Catalog Description. Design and implementation of purpose-specific, locally distributed
software systems. Models and methods for time-critical applications.
Real-time operating systems. Testing, validation, and verification.
Safety-critical design. Related topics, such as resiliency,
synchronization, sensor fusion, etc. Lecture and laboratory.
|
Laboratory Description.
The course laboratory is a golf car modified for computer control
and under development to serve as a research platform.
The class project goals include:
- implementing frameworks for autonomous vehicle navigation,
for instance using the Global Positioning System (GPS);
- implementing frameworks for local tactical guidance,
such as obstacle avoidance.
- exploring embedded-system design methods and
configurable architectures in support of advanced robotics research.
- engaging others working in areas such as vision,
artificial intelligence, situated congnition, learning, etc.
|
ERTS Vehicle Description.
- Modified EZGO® golf car
- Computer controlled actuators;
all mechanical controls intact
- On-board LAN of ARM-based
nodes operating under QNX (an RTOS)
- TCP/IP bridge to navigation system; any general
purpose host/language may be used.
- Configurable sensor
data netwok; GPS, compass,
IMUs, vision, ranging, etc.
|
|
Prior course projects and development goals
- Fall 2009 see Year of ERTS announcement.
- Fall 2008
- Conversion from a client/server interface to a file-system interface
- Re-implementation of GPS following (4 weeks)
- Obstacle detection using short-range laser range-finder
- Preliminary obstacle avoidance
- Fall 2007
- Refinement of GPS navigation.
Path planning.
Terrain variation.
- Obstacle avoidance.
Stereo-visual feature extraction;
Sonar "whiskers";
Other ranging devices.
- Architecture.
Sensor platform/networking.
On-board LAN.
Scheme API.
- Spring 2007
- System Development & Testing.
Synchronous communication infrastructure;
- Basic GPS navigation.
Point-to-point waypoint following;
Turning maneuvers;
Situation-based speed control.
|
| |