Team Name
IGVC Engineers
Timeline
Summer 2024 – Fall 2024
Students
- DeZean Gardner – Computer Engineering
- Nestor Arteaga – Computer Engineering
- Jocsan Cano – Computer Engineering
- Debin Babykutty – Computer Engineering
- Hayden Ansell – Computer Science
- Chau Nguyen – Software Engineering
Abstract
Our product is a robotic vehicle intended to be submitted to the Intelligent Ground Vehicle Competition (IGVC). Our IGVC qualifier is an autonomous vehicle that has the ability to navigate around a closed course. The vehicle was developed to comply with the rules and regulations of the IGVC Auto-Nav challenge. Development was done following the 2024 issued rules. The vehicle is a collection of two systems that are integrated together to achieve successful autonomous navigation. Systems include a drive system for controlled movement, and computer vision for path finding and object detection.
Background
The Intelligent Ground Vehicle Competition (IGVC) represents a significant challenge that demands innovative solutions in robotics, computer vision, and autonomous systems. Essentially starting from scratch on this project, we aimed to refine our skills and knowledge in this domain while addressing the evolving complexities of autonomous vehicle technology. The business case for this project is strengthened by the increasing demand for autonomous vehicles across various sectors. This includes seeking advanced solutions to enhance efficiency, safety, and productivity, making our participation in the IGVC an opportune platform to demonstrate our capabilities.
Current autonomous vehicle technology often falls short in terms of navigating accuracy, adaptability to dynamic environments, and strength towards diverse terrains. By continuing our engagement with the IGVC and developing a competitive vehicle, we aim to tackle these challenges and contribute to the advancement of autonomous systems. From prior participation in IGVC, we are equipped with valuable insights and lessons learned, which we will leverage to enhance our current work. Furthermore, our team’s engagement with the IGVC aligns with the objectives of our senior design curriculum. This provides us with a hands-on opportunity to apply theoretical knowledge to real-world challenges and contribute meaningfully to the advancement of autonomous vehicle technology.
Project Requirements
- Structural Specifications
- Length: Minimum length 3 ft, maximum length 7 ft.
- Width: The vehicle will be measured to ensure that it is over the minimum of 2 ft wide and under the maximum of 4 ft wide.
- Mechanical E-Stop
- The mechanical E-stop will be checked for location to ensure it is located on the center rear of vehicle at a minimum of two 2 ft high, a maximum of 4 ft high, and for functionality.
- Wireless E-Stop
- The wireless E-Stop will be checked to ensure that it is effective for a minimum of 100 ft. During the performance events the wireless E-stop will be held by the Judges.
- Safety Light
- The safety light will be checked to ensure that when the vehicle is powered up the light is on and solid. When the vehicle is running in autonomous mode, the light goes from solid to flashing, then from flashing to solid when the vehicle comes out of autonomous mode.
- Lane Following
- The vehicle will be measured to ensure that it is over the minimum of two feet wide and under the maximum of four feet wide.
- Obstacle Avoidance
- The vehicle must demonstrate that it can detect and avoid obstacles.
- Waypoint Navigation
- The vehicle must demonstrate its ability to navigate around an obstacle and reach a single 2-meter waypoint successfully.
- Speed
- The vehicle will have to drive over a prescribed distance where its minimum and maximum speeds will be determined. The vehicle must not drop below the minimum of one mile per hour and not exceed the maximum speed of five miles per hour. Minimum speed of one mph will be assessed in the fully autonomous mode and verified over a 44-foot distance between the lanes and avoiding obstacles. No change to maximum speed control hardware is allowed after qualification. If the vehicle completes a performance event at a speed faster than the one it passed qualification at, that run will not be counted.
- Propulsion
- Vehicle power must be generated onboard. Fuel storage or running of internal combustion engines and fuel cells are not permitted in the team maintenance area.
Design Constraints
- Accessibility
- It would have been simple to mount the components in a permanently secured manner. However, each part of the vehicle needed to remain accessible for frequent disassembly, testing, and adjustments. Designing a layout that balanced convenient access with discreet concealment posed a significant challenge.
- Aesthetics
- This was a big one, given the design of a Barbie Jeep. The team wanted to make it appear as a regular Power Wheels, just like any other children’s toy. But under the hood, you would find an entire autonomous vehicle drive system. The components had to be creatively hidden, with the motor control under the seat, batteries in the “engine bay”, and the Jetson under the dash. Also, the camera, lidar, and RF receiver had to be mounted as discreetly as possible, to preserve the Jeep’s factory appearance.
- Cost/Economic
- Due to a limited budget, it was challenging to determine effective allocation of funds. For this project, the available funds were spent on vehicle hardware components. Components include the Jetson, wide angle camera, lidar, and some wiring/hardware components. The given budget was not exceeded as the team made sure to reuse existing components wherever possible, such as the wheelchair motors, wheels, motor control devices, and wiring connectors.
- Safety & Welfare
- The Intelligent Ground Vehicle will be analyzed and tested by the judges during the competition. The safety requirements are part of the competition qualifications to ensure they comply with safety hazards.
- Dual E-Stops: The vehicle must feature two Emergency Stop (E-Stop) mechanisms. The mechanical E-Stop is a red push button, centrally located, and positioned between 2 to 4 feet high. It must be hardware operated for immediate response in case of emergencies. Additionally, a Wireless E-Stop is required, capable of functioning within a range of at least 100 feet using an RC relay. Both E-Stops must effectively cut off power signals and bring the vehicle to an immediate stop upon activation.
- Safety Lights: The vehicle should be equipped with safety lights to provide visual indication of its operating mode. When in standby mode, these lights remain solid to signal readiness. During autonomous mode, they switch to flashing mode to alert judges and other participants. Upon exiting autonomous mode, the lights return to a solid state.
- Schedule
Development of the vehicle was completed within a significantly shorter timeframe than ideal. Building a working prototype from scratch demanded intensive effort, requiring the team to dedicate long nights, weekends, and focused commitment to the project. We really had to lock in. Despite the challenges, we believe we succeeded in delivering an impressive and fully functional autonomous Barbie Jeep.
Engineering Standards
- ASTM D7386 –
This is a standard that provides guidelines for testing the performance of shipping packages to ensure they can withstand the physical demands of parcel delivery systems, protecting their contents from damage during transport. The recommended test levels vary depending on the shipping and handling environment. The practice must be uniform in a testing site where units do not exceed 150lb. - ISO 21448:2019 –
Focuses on the safety of the intended functionality (SOTIF) of the systems, ensuring that the vehicle performs its obstacle avoidance tasks safely and effectively under all operating conditions. This is applied to intended functionality where situational awareness is critical in areas such as complex sensor input and processing algorithms. It is also intended for emergency braking systems and advanced driver assistance systems. - ISO 11270:2014 –
Lane Keeping Assistance Systems (LKAS) – This standard outlines the requirements and testing methods for LKAS in vehicles. It ensures safe lane support without transitioning to automatic driving or preventing lane departure. The system should operate in alignment with guidance from detected visible lane markings. - ISO 17185-1:2014 –
It specifies the standard framework for public transport user information. It covers the requirements and performance metrics for systems providing public transport information to users, ensuring accurate, timely, and reliable data for navigation and transport services. Surface public transport information must be provided to transport users in an appropriate way. - NFPA 70 –
The standard for safe electrical design, installation, and inspection. It is enforced across all 50 states to safeguard individuals and property from electrical dangers. All electrical wiring must meet the requirements outlined in the National Electric Code. This covers everything from how wires are installed to their insulation, grounding, enclosures, over-current protection, and any other specifications mentioned in the code. - Occupational Safety and Health Standards (OSHA) 1910.147 –
Covers the control of hazardous energy (lockout/tagout). This standard outlines specific requirements for energy control procedures, ensuring that detailed procedures are in place for the control of hazardous energy during service and maintenance activities. Minimum performance requirements are defined by this standard.
System Overview
The system consists of two main layers: computer vision and drive system. Each layer consists of its own subsystems, and both layers are connected. The computer vision layer consists of lidar and camera input, and a path finding algorithm that communicates with the other layers. The drive system layer consists of the main physical components: Jetson, motor control, power supply system, etc. This layer uses the input from the path-finding algorithm to move the robot.
Results
By the end of the semester, the team successfully developed a functional prototype capable of receiving input from both the camera and LiDAR to make informed decisions. The system features fused, independent power supplies: one dedicated to the motors and another for onboard components like the Jetson. Additionally, the robot includes an RF receiver that allows it to receive commands from a universal TV remote. This enables both manual control and a wireless emergency stop. To top it off, the robot retains the appearance of a child’s Barbie Jeep.
Future Work
There are several things that could be improved before the final iteration. Surely the lane detection, object avoidance, and turning radius calculations can be improved on. A more durable, finalized frame would also be essential for competition readiness. Additional features, such as a mechanical emergency stop, indicator lights, and other competition-specific requirements, still need to be implemented. However, the team has delivered an excellent foundation for future development, providing a starting point for any team to build upon and creating what is undoubtedly one of the coolest-looking robots ever.
Project Files
Project Charter
System Requirements Specification
Architectural Design Specification
Detailed Design Specification
Poster
References
National Fire Protection Association. National Electrical Code, 2024. Accessed: 2024-07-30.
Robotics Industries Association. American National Standard for Industrial Robots and Robot Systems – Safety Requirements, 2012. Accessed: 2024-07-30.
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ECMA. Ecma-334: C language specification, 2023. Accessed: 2024-04-18.
International Organization for Standardization. Intelligent transport systems, 2014. Accessed: 2024-07-30.
International Organization for Standardization. Lane keeping assistance systems (lkas), 2014. Accessed: 2024-07-30.
International Organization for Standardization. Safety of the intended functionality, 2019. Accessed: 2024-07-30.
IGVC. Official competition details, rules and format, 2024. Accessed: 2024-04-18.
ASTM International. Standard Practice for Performance Testing of Packages for Single Parcel Delivery Systems, 2016. Accessed: 2024-07-30.
Mono. Cross platform, open source .net framework, 2024. Accessed: 2024-04-18.
Occupational Safety and Health Administration. The control of hazardous energy (lockout/tagout), 2024. Accessed: 2024-07-30.
