HT-2 is a mobile robot platform designed for autonomous car research. It is meant for researchers and
developers who wish to implement the results of their research on "automobiles", or fully
autonomous cars.
- Autonomous vehicle base which operates with behavior-based robotic principles
- Used as abased for research on highly autonomous vehicles
- Open design both in hardware and software for smooth addition and integration of various options
provided by AAI or others
- Has basic collision avoidance capability in complex environments using both vision and ultrasonic sensors
- User-developed behaviors written in C and other languages easily incorporated to form an
integrated on-board software
- Seamlessly and smoothly shifts from fully autonomous to fully manual operation using a joystick
- Framework for landmark-based navigation using vision system (software option, available Q4/04)
- Voice commands and vocal status report through voice recognition/synthesis interface (hardware/software option)
- Data collection, monitoring, recording, and analyses by a host via video/data communication options
- Sound vehicle base for repeated experiments in the field
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Standard processor:
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EBX processor (Pentium III embedded PC processor board), 1GHz clock, 1GBytes DRAM
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Standard sensors:
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Ultrasonic sensors (16), bumper sensors (4+8), encoders (2)
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Behavior-based vision system:
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Based on Texas Instruments' TMS320C642 high speed (600 MHz clock) DSP chip.
Maximum frame resolution
is 720 x 480 pixels. Basic affordance processing carried out at frame rate
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LCD console:
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20 characters x 4 lines back-lit type
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Battery:
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Six 8V batteries (48V)
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Safety features:
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Emergency stop switches (2 front and 2 rear),
seamless and instant manual override with a joystick, 8km/h energy absorbing
front/rear bumpers with built-in collision sensors, driver-in-sear sensor, default bump
behaviors, default collision-avoidance behaviors, remote kill switch (option)
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User ports:
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Analog inputs (6), digital inputs (6), digital outputs (8), serial port (1)
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Programming language:
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C and others including assemblers
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Size:
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length: 239 cm (93.9 inches)
width: 120 cm (47.2 inches)
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Wheelbase:
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163 cm (64.3 inches)
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Weight:
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290 kg (638 lbs)
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Maximum payload:
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Approx. 300 kg (660 lbs)
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Ground clearance:
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9.7 cm (3.8 inches)
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Speed:
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0 - 4 Km/h (0 - 2.5 mph), continuouslly variable. Can be increased by user. Maximum
manually operated speed is 19 Km/h (12 mph). Reverse speed at 65%.
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Turning radius:
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2.9m (9.5 ft)
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Maximum inclination:
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20 degrees
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Range:
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20 Km (12.5 miles) maximum per full charge (flat smooth furface)
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Suspension:
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Precision independent front strut suspension with minimal camber and toe
changes. Rear suspension with coil springs and hydraulic shock absorbers.
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Steering:
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DC motor driven rack and pinion, computer controlled
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Brakes:
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Power regeneration by motors and self-adjusting rear drum brakes. Parking brake with
automatic release.
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- Navigation system: Vision-based outdoor landmark navigation system (Q3/04)
- DGPS system: Can maintain }0.4 meter accuracy within the range of the
differential station (maximum 1~3 km (0.6~0.9 miles))
- Evolvable hardware option: Hardware unit to evolve some of the behaviors for
running the vehicle.
- Voice I/O: A voice recognition/synthesis box capable of recognizing
up to 500 utterances and can utter up to 1000 words or short sentences.
- Also can incorporate other AAI and user options
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