Platform Specs

im

  • Weight: 21kg
  • Top speed: 27m/s (60 mph)
  • Size: 1m long, 0.6m wide, 0.4m high
  • Standard operating team: 2-3 people

Chassis

  • Derived from 1:5 scale RC truck
  • Off-the-shelf chassis modifications to support payload
  • Custom 3D printed mounts and enclosures
  • 4s 6500mAh battery pair give typical run time of 3 hours, full-load run time 45 min
  • Seamless switching between autonomous and manual control using RC transmitter
  • Remote run stop disables motion in manual and autonomous modes

Sensor Suite

  • High-precision IMU, raw data up to 1KHz
  • RTK-corrected GPS, position at 20Hz
  • Hall-effect rotation sensor on each wheel at 70Hz
  • 2 front facing machine vision cameras, 1280x1024, 70fps, global shutter, synchronously triggered

Computing (Mini-ITX)

  • Intel Skylake Quad-core i7
  • 32GB DDR4 RAM
  • 512GB m.2 SSD
  • 1TB SATA3 SSD
  • Nvidia GTX 750ti GPU
  • WiFi and XBee communication
  • 6s 11000mAh battery gives typical run time of 3 hours, full-load run time 1 hour
  • DC power supply
  • Dynamically switching power selection between internal battery and external power
  • Robust fabricated aluminum enclosure protects sensitive electronics from shock
  • Standardized mounting and communication interface to chassis

Software

  • ROS-compatible, open-source core code
  • State estimation by fusing IMU and GPS using GTSAM optimization toolbox
  • Flexible launch system to pair any compute box with any chassis
  • Operator Control Station (OCS) for remote monitoring
  • GPS waypoint steering controller
  • Constant velocity controller

Simulation

  • Gazebo-based
  • Identical ROS interface as physical robot
  • Vehicle model parameters measured from physical robot