Information, Announcements, Links
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| [HTM]
| Photo Gallery
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[MP4]
[MP4]
[MP4]
[MP4]
| (13 Mb) GPS tour, high perspective
(14 Mb) GPS tour, ground-level
(12 Mb) GPS tour w/ safety-driver
(6 Mb) Vehicle walk-around
| | Info |
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[PDF]
[HTM]
[HTM]
[PDF]
[PDF]
| ERTS Architecture [B. Himebaugh, 2008]
Class Project Field Trials, April 27, 2007
Field Trial Safety Rules
Trial 1 Score Sheet
Trial 2 Score Sheet
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| About P545
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| 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.
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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.
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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.
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Prior course projects and development goals
- 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.
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Fri Apr 27 11:04:03 EDT 2007 [SDJ]
© Indiana University Trustees
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