This project focuses on designing and building an unmanned ground vehicle (UGV) which will become WPI's first entry to the IGVC in June 2010. The vehicle power train consists of sealed lead acid batteries, bi-directional DC motor and chain sprocket sets. The software approach employs a stereo image processing implemented on NVIDIA's GPU. The image processing algorithms include segmentation using neural networks, rectification and pixel disparity calculation for line and obstacle distance detection. The sensor fusion technique processed on a National Instruments cRIO controller incorporates data from a LIDAR, differential GPS receiver, wheel encoders, and a compass. The path planning is implemented based on Driving with Tentacles approach.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Madera Nadal, Ricardo J.
• Barrett, Justin M.
• Fitzpatrick, Robert James
• Sacco, Daniel Robert
• Wang, Bohua
• Gamache, Christopher Michael
• Panzica, Adam C.
• Truchanovicius, Viktoras
• Roy, Benjamin R.

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-042910-143753

Advisor

• Padir, Taskin
• Michalson, William R.
• Stafford, Kenneth A.
• Ciaraldi, Michael J.
• Nestinger, Stephen

Year

• 2010

Sponsor

• National Instruments
• The NVIDIA Corporation

Date created

• 2010-04-29

Localização

• Worcester

Resource type

• Major Qualifying Project

Major

• Computer Science
• Mechanical Engineering
• Electrical & Computer Engineering
• Robotics Engineering

Rights statement

• In Copyright