Download 2. Task Description - Field Robot Event 2014

 Sensors ‐ SICK LIDAR Sensors (front and rear) ‐ Sonar ‐ Optical Cameras ‐ Triple axis magnetometer ‐ Nine axis motion tracking chip (Gyro, Accelerometer, Compass) ‐ (Precision GPS) ‐ multiple mechanical switches ‐ multiple voltage and current sensors All Sensors and Motors are connected to a microcontroller (STM) via I²C, RS232, and CAN. The LIDARs are directly connected to the main computer. The microcontroller provides an abstraction layer of all the systems on the robot. The main computer communicates directly with the microcontroller. The Data Processing team takes over at the interface between the low‐level microcontroller and the main computer. The main computer runs the computationally intensive algorithms for mapping, navigation and image processing, thus making the actual decisions for the robots movement. 3.1 Hardware
The main computer is a standard x86 machine powered by a PSU for automotive use. The components where chosen as a compromise between power consumption and performance. The main computer is installed in a tight package below and inside the central frame where it is protected from moisture and obstacles. The CPU in use is capable of performing GPGPU accelerated operations (e.g. via OpenCL) ‐ Zotac Mini ITX Mainboard ‐ Intel Core i5 Quad Core Processor (Haswell) ‐ 8 Gbyte RAM ‐ 32 Gbyte mSATA SSD ‐ 140 W PSU (9‐32 V Input) ‐ custom air cooling system 3.2 Software and strategy
The main computers software is written in Java now, as it is the most widely used and teached programming language for students of information technology at the 122 Proceedings of the Field Robot Event 2014