Intelligent Ground Vehicle Competition 2010 Day Two Report
posted Jun 7th 2010 6:17am by Gerrit Coetzeefiled under: robots hacks
Culture Shock II, a robot by the Lawrence Tech team, first caught our eye due to it’s unique drive train. Upon further investigation we found a very well built robot with a ton of unique features.
The first thing we noticed about CultureShockII are the giant 36″ wheels. The wheel assemblies are actually unicycles modified to be driven by the geared motors on the bottom. The reason such large wheels were chosen was to keep the center of gravity well below the axle, providing a very self stabilizing robot. The robot also has two casters with a suspension system to act as dampers and stabilizers in the case of shocks and inclines. Pictured Below.
The next thing we noticed were the strange semi-circles mounted above the casters. Upon further inquiry we found that the robot uses 10 lasers to project cross-hairs on the ground so that it can use its stereo vision at night.
The robot has two stereo vision cameras from Videre, a brand that has been very popular at this year’s IGVC. The cameras overlap and provide the AI with a pixel-associated 3d point map. The team also came up with a clever way to adjust the camera to different lighting situations with two “candy canes” sticking out into the robot’s field of vision. The robot can look at these and use an algorithm to adjust the colors according. This helps greatly with white line detection. (The robots must stay within two white lines painted about 10 feet apart on the grass.)
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