20052007 link to presentation not easy20072005 old house
Post on 20-Dec-2015
214 views
TRANSCRIPT
![Page 1: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/1.jpg)
2005 2007
Link to Presentation Not Easy 20072005Old House
![Page 2: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/2.jpg)
![Page 3: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/3.jpg)
![Page 4: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/4.jpg)
The DARPA Grand ChallengesDefense Advanced Research Projects Agency
• DARPA Grand ChallengeCreated in response to a Congressional and DoD mandate: a field test intended to accelerate research and development in autonomous ground vehicles that will help save American lives on the battlefield. The Grand Challenge brings together individuals and organizations from industry, the R&D community, government, the armed services, academia, students, backyard inventors, and automotive enthusiasts in the pursuit of a technological challenge.
• The First Grand Challenge: Across the Mojave, March 2004Across the Mojave from Barstow, California to Primm, Nevada :$1 million prize. From the qualifying round at the California Speedway, 15 finalists emerged to attempt the Grand Challenge. The prize went unclaimed as no vehicles were able to complete more than 7.4 miles.
• The 2005 Grand ChallengeMulti-step qualification process: Site Visits, NQE – Semifinals, GC final event132 miles through the Nevada desert. Course supplied as list of GPS waypoints. October 8, 2005 in the desert near Primm, NV. Prize $2 million.
• The 2007 Urban ChallengeNov. 2007; 60 miles in an urban environment. Lane keeping, passing, stop-signs, K-turns “driving down Nassau Street”. Range of Prizes
![Page 5: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/5.jpg)
Prospect Eleven & 2005 Competition
![Page 6: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/6.jpg)
2005 Grand Challenge
![Page 7: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/7.jpg)
Constraints• Very little budget
• Simplicity
Guiding Principles
Objective• Enrich the academic experience of the students
![Page 8: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/8.jpg)
http://www.pcmag.com/slideshow_viewer/0,1205,l=&s=1489&a=161569&po=2,00.asp
Homemade“Unlike the fancy “drive by wire” system employed by Stanford and VW, Princeton’s students built
a homemade set of gears to drive their pickup. I could see from the electronics textbook they were using that they were learning as they went.”
![Page 9: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/9.jpg)
the making of a monster
![Page 10: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/10.jpg)
Fall 2004
![Page 11: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/11.jpg)
![Page 12: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/12.jpg)
Fall 2005
![Page 13: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/13.jpg)
![Page 14: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/14.jpg)
Fall 2007
![Page 15: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/15.jpg)
![Page 17: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/17.jpg)
Pimp My Ride
(a video presentation)
![Page 18: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/18.jpg)
Our Journey to the 2005 Grand Challenge
Video SubmissionMarch, 2005
Site VisitMay, 2005
2nd Site VisitAugust, 2005
SemifinalsSeptember, 2005
Final EventOctober 3, 2005
118 teams
40 semi-finalists
10th Seed of 23 finalists
9 alternate semi-finalists
3 additionalsemi-finalists
195 entries
Complete 9.5 miles Autonomously
Return to MojaveRun: 2005 courseBB; 2004 course
3 weeks later
Video NQE Run
Video After 8 miles
![Page 19: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/19.jpg)
Achievements in the 2005
![Page 20: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/20.jpg)
Link to GPS Tracks
![Page 21: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/21.jpg)
Participation in the 2007
![Page 22: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/22.jpg)
Spring2007
![Page 23: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/23.jpg)
The 2007 DARPA Urban Challenge
• Complete 60 miles of autonomous driving in under 6 hours.
• Navigate within a complex urban & suburban environment – handling GPS outages.
• Stop signs, parking lots, passing, merging into traffic.
• Link to a sample layout
![Page 24: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/24.jpg)
2007• Semifinalist in the 2007 DARPA
Urban Challenge• Stereo and Monocular cameras,
along with RADAR• Homebrew State Estimation system
![Page 25: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/25.jpg)
Prospect12_TestRun
![Page 26: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/26.jpg)
Substrate
Cognition
ActuationPerception
Environment
![Page 27: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/27.jpg)
Perception
![Page 28: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/28.jpg)
MonocularVISION
![Page 29: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/29.jpg)
Lane
DETECTION
![Page 30: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/30.jpg)
Lane
DETECTION
![Page 31: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/31.jpg)
StereoVISION
![Page 32: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/32.jpg)
Obstacle
DETECTION
![Page 33: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/33.jpg)
Obstacle
DETECTION
![Page 34: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/34.jpg)
PrecisionGPS
MEMSIMU
![Page 35: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/35.jpg)
Sensor
FUSION
![Page 36: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/36.jpg)
Cognition
![Page 37: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/37.jpg)
Global and Local
NAVIGATION
![Page 38: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/38.jpg)
Actuation
![Page 39: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/39.jpg)
Home-brewed
ELECTRONICS
![Page 40: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/40.jpg)
Mechanical
ACTUATORS
![Page 41: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/41.jpg)
Substrate
![Page 42: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/42.jpg)
dual-core
PROCESSING
![Page 43: 20052007 Link to Presentation Not Easy20072005 Old House](https://reader030.vdocuments.us/reader030/viewer/2022032800/56649d405503460f94a1a935/html5/thumbnails/43.jpg)
Microsoft
ROBOTICS STUDIOWas a mistakeNow switched to thread safe Windows with C++