LEO 10

LEO 10National University of SingaporeAnkit, Final Year EEDev Chandan, Final Year MEHitesh,Senior Year EE

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LEO10 Travels Half Way Across the Globe

Packed and Checked in

Assembled back

Team Structure

Design InnovationsLight WeightCompactModularPower Miser

System Design: MechanicalDrive Train4 Independent DrivetrainsDynamixel RX 64 Modular

Body DesignItem ProfilesAdjustable MountsIP 66 Containers Housing

PowerPower consumption reduced to 39%

Total Power Requirement of 90.59W. Optimized at speed of 0.5 m/s

Battery ManagementEasily replaceable batteriesLi-Po batteries: 25.9V 10 Ah & 14.8V, 7Ah Weight budget of 2.5kgs. Total Run time 2h 38 minutes at 25.9V and 6h 14 minutes at 14.8V. The battery voltages are stepped down to 18V, 12V and 5V respectively by Anyvolt 3 DC-DC converters and 25W Step down adjustable switching regulators.

System Overview

SystemWireless & Hardware Emergency StopWireless control Drivetrain Control SystemGlobal Motor Control, Local Motor Control.

Output Power to the motor 25.9V to 18V DC-DC converter RS485 Breakout board for RX64 Communication Encoder InputArduino Mini MicrocontrollerI2C Connection to Global Motor Control18V to 5V Converter

System Design : SoftwareRobot Operating System3 Main Parts:Obstacle DetectionImage ProcessingOdometry/GPS (Pose Estimation)

Software system: ROS

Why ROS?Open SourceStable & RobustIntegrated:OpenCVPlayer/Stage, GazeboSupports both C++ and Python

Software System: Lane Detection

Lane Detection

Path Planning with Costmap 2D

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Path Planning

Inflated CostsLocal PathGlobal Path

GPS NavigationDynamic sorting of waypoints

Choose shortest waypoint

Convert to UTM:Provide goal to robot

When done, remove goal and resort

3D LIDAR Point Clouds using PCL Library

Detect ramps etc.Objects otherwise considered obstacles

Pose Estimation: EKFExtended Kalman Filter

Takes data from:OdometryGPSIMU

Accurate Pose/Position Estimation

Simulation & TestingPioneer 3DX model in Gazebo

Appendix

Mechanical DataSheetLength1.10 mWidth0.64 mHeight1.49 mWeight(without payload)23 kgGround Clearance0.05mPayload Capacity20 kgWheel Diameter 8 inchesMaximum Speed(80% Efficiency)1.85 m/sOperational Speed 5 m/s