NIYANTRA Documents
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Contact Information
Name of the College :
Indian Institute of Technology Bombay
Name of the Team Members along with their respective current semester :
Abhishek Kumar, B.Tech. Chemical Engineering - 8th semester
Kumar Keshav, Dual Degree, Mechanical Engineering - 6th semester
Pranjal Jain, Dual Degree, Mechanical Engineering - 6th semester
Pranav Maheshwari, Dual Degree, Energy Science and Engineering - 6th semester
Ebrahim Attarwala, Dual Degree, Electrical Engineering - 6th semester
E-Mail Address & Phone Number of the Team Leader :
Team Leader: Pranav Maheshwari
Email: pranav4793@gmail.com
Phone: +91-9820721990
Name of the Faculty Guide :
Prof. S N Merchant, Electrical Engineering Department, IIT Bombay
E-Mail Address & Phone Number of the Faculty Guide :
Email: merchant@ee.iitb.ac.in
Phone: +91-22-2576-7455
Project Information
Project Title:
Intelligent Ground Vehicle
Hardware & Software Used:
Hardware:
- LIDAR (Laser Range Finder) - for detecting obstacles
- GPS (Global Positioning System) - for getting Latitude & Longitude
- IMU (Inertial Measurement Unit) - Accelerometer, Magnetometer and Gyroscope combined
- Camera - for detecting white lanes
- Motor Controller - for giving precise command to motors
- Motors - for precise manuvering of vehicle
- Laptop - for all the processing of data from sensors to command for motors
- E-Stop - for emergency stop mounted on machine if anything goes wrong
- Wireless E-Stop - for switching machine to manual mode from autonomous mode
- Power Distribution Board - for distribution of power to all the devices from battery source
Software:
- LabVIEW - The complete software for the vehicle has been made using LabVIEW on Windows 7
- NI-VISA - for communication with all the sensors via VISA read and write functions
- OpenCV - for real time image processing and then sending the information to LabVIEW via DLL using 'call library node function'
What challenge/problem are you trying to solve through your application:
In the world of automation, the main challenge is to develop a highly reliable unmanned or autonomous vehicle which is capable of navigating from one desired location to other.
In the field of robotics, this is referred to as Simultaneous Localization and Mapping (SLAM).
The main problems faced are:
- Accurately knowing where the vehicle is, which is called Localization
- Next problem is to accurately visualise the surrounding environment, which is called mapping
- Final problem is to find the best possible path to the desired location and driving the vehicle through that path
We are developing an Intelligent Unmanned Vehicle capable of carrying 10kg of Payload from one GPS location to other GPS location avoiding the obstacles in the course and also follow the lanes.
How does your application solves the above mentioned challenge/problem:
Various applications of Intelligent Ground Vehicle:
- Intelligent Transportation System (ITS):
- Collision Avoidance
- Lane Detection
- Complete Autonomous Navigation
- Military Mobility:
- Surveillence Systems
- Unmanned Weapons Deployment
- Automated Assemmbly Line Manufacturing
We successfully demonstrated a completely autonomous run of our vehicle in an outdoor course of length 700 feet, consisting of randomly placed obstacles, white lanes forming the track and 3 GPS waypoints. Thus completing the challenge presented to us.
Description of Project:
Autonomous cars are a recent widely researched topic in field of artificial intelligence. A lot of progress on this has been made in universities of USA, but not much in India.
To Intelligent Ground Vehicle is an ambitious student project aimed at making an autonomous unmanned ground vehicle capable of manoeuvring in outdoor environment. Given a target GPS point, the vehicle will achieve the goal, avoiding obstacles in the course and keeping itself in its lane. The vehicle weighs around 30 Kg and measures 2ft X 3ft.
The challenge showcases the latest technologies and techniques developed in the field of unmanned transportation system and we are a persistent eye catcher for media and robotics enthusiasts from all over the world.
Insert Images Here:
LabVIEW VI's screenshots:
- Camera Interface:
- Front:
- Back:
- LIDAR interface:
- Front
- Back:
- GPS:
- IMU:
- Navigation:
- Front:
- Back:
- Motor Drive:
- Front:
- Back:
- Typical Hierarchy of a VI:
YouTube Link of Video:
Insert the Video here:
