Misti (IGVC)

Mistii
Year Of Creation	2012-2013
Versions
Current Version	deprecated
Update Year	2013-2014
Information and Statistics
Farthest Distance	n/a
Fastest Time	n/a
Highest Placement AutoNav	n/a
Highest Placement Design	4th

Competitions

IGVC 2013

• Bot Version: Misti
• Results:
  • Distance: n/a
  • Design Competition Placement: 8th (996.33 / 1200 points)
  • AutoNav Competition Placement: n/a

IGVC 2014

• Bot Version: Mistii
• Results:
  • Distance: n/a
  • Design Competition Placement: 12th (779.67 / 1200 points)
  • AutoNav Competition Placement: n/a

IGVC 2015

• Bot Version: Mistii
• Results:
  • Distance: n/a
  • Design Competition Placement: 4th (1010.67 / 1200 points)
  • AutoNav Competition Placement: n/a

Versions

Misti

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Mechanical Issues & Improvements

Drive Train:

• Drive: Tank/skid steer
• Motor: AmpFlow A28-400 Motor
  • Website: AmpFlow Motors
  • Performance Charts
  • Quantity: 2
    • Combined 9 peak horsepower
    • Redundant motor controllers
• Custom gearboxes
  • CNC milled boxes
  • 2 stage reduction
  • Total reduction 30:1

Sensors: Misti was designed to accommodate all the sensors with the following design principles:

• Protect from environment
• Maintain accessibility
• Modular mounts: Isolate change propagation

Interface:

• Panel with clearly identified and accessible buttons, switches, and guages
• Safety:
  • Multiple remotes for wireless E-stop
  • Wired E-stop at operator's forehead level

Electronics: Misti took advantage of the wider front and rear trays to make the electronics more accessible:

• Power distribution tray mounted to removable static dissipative panel for servicing.
• Reduce wiring mess:
  • Motor controllers mounted near motors
  • Micro-controllers mounted near laptop

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Electrical Issues & Improvements

Here are the sensor selections for this year.

Here is the drive system electronics for this year.

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Software Issues & Improvements

Development:

• IGVC GIT HOWTO : We use Git as our code management system, and this will explain how to acquire and update the code base.
• File:IGVC-UnitTestingWithBoostFramework.pdf : This presentation will introduce you to using Boost libraries for unit testing.

Operating Systems Requirements: Ubuntu 12.04

Library Dependencies:

• Boost
• OpenCV
• PCL (PointCloud Library)
• Qt 5
• Point Grey Libraries
  • Flycatpure
  • Triclops

Other things:

• Software "flowchart":
  • loop

    Vision
        Calls camera code
    Lidar
    RobotPosition
        Calls GPS, Mag, IMU, and Encoders
    Map(Vision, Lidar, RobotPosition)
    PotentialFields(Map)
    OSMC(PotentialFields)

Sensors