VIRAT

2019 - Autonomous Ground Robot 

2nd Overall Globally - IGVC 2019

2nd Position - Interoperability Challenge

5th Position - Auto Nav Challenge

6th Position - Design Challenge 

PERCEPTION & SENSING

  • Lidar

  • GPS

  • IMU

  • Cameras

  • Encoders

Computation & Actuation

  • Intel NUC i7

  • Motor Driver

  • PMDC Motor

Mechanical Design Features

  • Fully Autonomous

  • Manual Tele OP

SOFTWARE

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The software code is written using ROS Framework to enable end-to-end GPS way point navigation and obstacle manoeuvring. Position estimation of the vehicle is reinforced by fusing sensor feedback more efficiently through EKF. Novel, scene-independent and robust path planning algorithms for lane, pothole and flag detection have been developed and integrated.

ELECTRICAL

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The electrical module incorporates precise motor position feedback mechanisms and a state-of-the-art battery management system. The lower controller framework provides for efficient processing and debugging of five sensor inputs: (i) Light Detection And Ranging (LIDAR) sensor for 180 degree obstruction detection (ii) Inertial Measurement Unit for route planning in GPS (iii) Cameras for lane detection

MECHANICAL

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The bot is from a highly modular aluminium chassis with robust motor and gear coupling. The frame has been designed with a focus on efficient space and low centre of gravity for stability. The current physical design is formulated so as to meet the prequalification requirements of the Intelligent Ground Vehicle Competition.