TEAM WAYFINDER
OUR PROJECT
OUR MISSION
To develop a subterranean autonomous vehicle system capable of autonomously mapping an unknown cave environment and exploring for artifacts, while demonstrating terrain- and environment-adaptive mobility.
OUR OBJECTIVE
To design an autonomous system with perception, mapping, and navigation capabilities. The final prototype will be able to autonomously map its surroundings, navigate through cave systems, and locate an artifact.
OUR MOTIVATION
To drive novel approaches and technologies to allow warfighters and first responders to rapidly map, navigate, and search dynamic underground environments. To address multidisciplinary robotic challenges. To utilize the natural test sites on O'ahu, HI.
THE CHALLENGE
We aim to qualify and compete in the Cave Circuit of the DARPA Subterranean Challenge in August 2020.
The technical challenge elements put forward by DARPA are as follows:
Severe Navigation caused by multiple levels, steep inclines, and slippery ground. Loops, dead-ends, and sharp turns also inhabit the course.
Degraded Sensing due to darkness, dust, mist, smoke, water, and tight passages.
​Severe Communication because of limited line-of-sign and radio frequency propagation​.
Terrain Obstacles
Dynamic Terrain
An endurance limit of 120 minutes.
The requirements of the SubTAVS while competing are:
To search for, detect, and reference objects of varying sizes, quantities, and detection signatures.
To provide a real-time, 3D, volumetric map that updates the DARPA Command Post every 10 seconds at a minimum.
OUR DESIGN
We are designing a modular vehicle system that is capable of being reconfigured depending on the situation being faced. It will have three configurations: Small Aerial, Large Aerial, and Ground-based. All configurations will feature an on-board computer and a set of sensors to help the autonomous program navigate the cave setting.
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As of now, we have the central unit and ground suspension system designed and materials and components selected. We are currently working on weight distribution for the electronic components, prototyping, and autonomy programming.
CENTRAL UNIT
This central unit will house all of the electronics and sensors. This unit will able to attach to the ground suspension and the arms for the aerial configuration will attach to it directly.
ROCKER-BOGIE GROUND SUSPENSION
The Rocker-Bogie suspension system is a NASA-used system that has excellent stability on uneven terrains.
