CajunBot

From CajunBot Wiki

Note: To learn about the latest Team CajunBot vehicle, see RaginBot (aka CajunBot-II).

CajunBot, also known as CajunBot-I, is the first generation vehicle created by Team CajunBot.

Contents 1 General Info 1.1 Platform 1.2 Electronics 1.3 Sensors 1.4 Software 1.5 Estimated Cost 2 Mechanical design documents from 2005 3 Power budget 4 Dimensions 5 Equipment 6 Architecture and Algorithms 7 Schematic diagrams 8 Presentations 9 Braking tests 10 Test courses 11 See also

[edit] General Info

[edit] Platform

A MAX 6-wheel amphibious all-terrain vehicle with a 25 hp twin-cylinder engine. Fuel capacity of 35 gallons. Top speed 30+ mph. Total weight 1,200 lbs.

[edit] Electronics

CajunBot is currently controlled by 2 high-speed AMD computers with a distributed memory system, several microcontrollers, and many custom circuits. A 2-kilowatt electric generator supplies the electrical power.

[edit] Sensors

Two scanning laser systems, three Doppler radars, and sonar help detect obstacles. C-Nav differential GPS and an Oxford inertial navigation sensor provide exact location information.

[edit] Software

Custom software developed by Team CajunBot (cbsystem) does everything from object detection to path planning. Advanced Artificial Intelligence (AI) software developed at UL Lafayette allows CajunBot to pick the shortest path while avoiding obstacles.

[edit] Estimated Cost

• $15,000 vehicle
• $90,000 electronics
• $70,000 in-kind loaner equipment.

Total hardware: $175,000. Not including thousands of hours of custom programming.

[edit] Mechanical design documents from 2005

• File:Cajunbot 2005 frame solidworks design.tar.gz

[edit] Power budget

File:Cajunbot power budget.ods

'	Raginbot (aka CajunBot-II) Power Budget	'	'	'
#	Item	Voltage	Power (W)	Total Power (W)
3	Primary computer	110	150	450
2	Mini-Itx computer	110	50	100
1	Control Box	12	75	75
1	Ethernet Switch	110	15	15
1	KVM Switch	110	?	0
5	Sick LMS-291	24	44	220
	UPS	110	?	0
1	LCD Display		?	0
1	RT3102 INS	12	15	15
1	CNAV	12	10.4	10.4
1	Hawking 802.11 Router		16	16
1	Hawking signal booster		15	15
1	Strobe light bar		?	1
1	Siren		?	1
2	actuators	12	240	480
			Total Power:	1398.4
	**All power numbers are MAX possible power draw**

[edit] Dimensions

CajunBot's base vehicle is 8 feet long and 56 inches wide. (Our frame does not add to the width of the vehicle).

The length from the front of the front sick to the rear of the generator mount is 133 inches.

The height to the CNAV antenna from the ground is 71 inches.

[edit] Equipment

• Connectors needed for the CajunBot
• Inventory of electronic components in the cage (2004)
• Shock Isolators
• RC transmitter

[edit] Architecture and Algorithms

See also: http://cajunbot.com/technology/research

Read the "CajunBot Architecture and Algorithms" document to get an overall understanding of the entire system.

• File:CajunBot-Architecture and Algorithms.pdf

This is the final report submitted to DARPA after the 2004 Grand Challenge:

• File:DARPA2004-TeamCajunbotFinalTP.pdf

Design and Integration of the Sensing and Control Subsystems of CajunBot:

• File:Cavanaugh2004CBSensors.pdf

[edit] Schematic diagrams

See: CajunBot diagrams

[edit] Presentations

See: Presentations

[edit] Braking tests

• File:Cajunbot braketests.doc - Breaking tests from Nov. 23, 2004.
• File:Cajunbot endurance break tests.doc - Dec. 22, 2004.

[edit] Test courses

[edit] See also

• The CajunBot Lab website
• CajunBot Technology
• CajunBot
• cbsystem
• CNAV
• Connectors needed for the CajunBot
• Inventory of electronic components in the cage (2004)
• Presentations
• RaginBot (aka CajunBot-II)
• RC transmitter
• CajunBot diagrams
• Shock Isolators