Official Competition Details, Rules and Format

 

 

 

The 16th Annual Intelligent
Ground Vehicle Competition
(IGVC)

 

May 30th - June 2nd, 2008

Oakland University

Rochester, Michigan

 

In memory of Paul Lescoe

 

 

 

 

 

 

Student Teams are Invited to Display Their Vehicles at The Association for Unmanned Vehicle Systems International’s Unmanned Systems North America 2008 Symposium & Exhibition Held at San Diego Convention Center

 in San Diego, California on June 10th – 12th, 2008

 


 

March 5, 2008 Version
TABLE OF CONTENTS

 

 I          Competition InformatioN

I.1       Team entries

I.2       VEHICLE CONFIGURATION  

I.3       Payloads

I.4        Qualification

I.5        INDEMNIFICATION AND INSURANCE

 

II          AUTONOMOUS CHALLENGE

II.1       OBJECTIVE

II.2       VEHICLE CONTROL

II.3       OBSTACLE COURSE

II.4       COMPETITION PROCEDURES

II.5       Traffic Violation Laws

II.6      HOW COMPETITION WILL BE JUDGED

II.7       GROUNDS FOR DISQUALIFICATION

 

III         DESIGN COMPETITION

III.1       Objective

III.2       Written Report

III.3       Oral Presentation

III.4       Examination of the Vehicle

III.5       Final Scoring

 

IV       NAVIGATION CHALLENGE

IV.1     Objective

IV.2     On-Board Sensors

IV.3     GPS Course

IV.4     The Run Procedure and Scoring

IV.5     Run Termination

 

V         JAUS Challenge

v.1      Objective

v.2      Design Competition requirements

v.3      Practical demonstration

V.4      technical approach

v.5      HOW COMPETITION WILL BE JUDGED

v.6      interface COntrol Document

 

VI        AWARDS AND RECOGNITION

vI.1     Autonomous Challenge

vI.2     Design Competition

vI.3     Navigation Challenge

VI.4     JAUS Challenge

vI.5     ROOKiE OF THE YEAR AWARD

vI.6     GRAND AWARD

VI.7     Publication and Recognition


I. COMPETITION INFORMATION 

 

I.1 TEAM ENTRIES

 

Teams may be comprised of undergraduate and graduate students, and must be supervised by at least one faculty advisor.  Interdisciplinary teams are encouraged (EE, ME, CS, etc.). Students must staff each team. Only the student component of each team will be eligible for the awards. Faculty supervisor will certify that all team members are bonafide students on application form and will also provide contact information (telephone number and e-mail address) for himself and the student team leader on the form.  Business/Non-Engineering students are encouraged to join teams to promote marketing, sponsorships, and other program management functions.  For a student to be eligible to compete as a team member, they are required to have attended at least one semester of school as a registered student between June 2007 and June 2008.

Team sponsors are encouraged.  Sponsors' participation will be limited to hardware donation and/or funding support.  Sponsors logos may be placed on the vehicle and may be displayed inside of the team maintenance area.  Teams should encourage sponsor attendance at the IGVC.

Schools are encouraged to have more than one entry; but are limited to a maximum of three per school, and each vehicle must have a separate team of students and a distinct design report.  Each entry must be based on a different chassis and software and must be documented by a separate application form and design report, submitted in accordance with all deadlines.  All entries must have a team name and each application form must be TYPED and accompanied with a $250.00 non-refundable registration fee made payable to Oakland University.  Intention to compete must be received no later than February 29, 2008, by mailing your application form to:

           

Gerald C. Lane

            C/O Dr. Ka C. Cheok

            102G SEB

            SECS-ESE Dept.

            Oakland University

            Rochester, MI 48309-4478 

 

If you have any questions, please contact Bernie Theisen by telephone at (586) 574-8750, fax: (586) 574-8684 or e-mail: bernard.theisen@us.army.mil.

 

I.2 VEHICLE CONFIGURATION

 

The competition is designed for a small semi-rugged outdoor vehicle.  Vehicle chassis can be fabricated from scratch or commercially bought.  Entries must conform to the following specifications:

 

  • Design:  Must be a ground vehicle (propelled by direct mechanical contact to the ground such as wheels, tracks, pods, etc or hovercraft).
  • Length:  Minimum length three feet, maximum length seven feet.
  • Width:  Minimum width two feet, maximum width five feet.
  • Height:  Not to exceed 6 feet (excluding emergency stop antenna).
  • Propulsion:  Vehicle power must be generated onboard.  Fuel storage or running of internal combustion engines and fuel cells are not permitted in the team maintenance area (tent/building).
  • Speed:  For safety, a maximum vehicle speed of five miles per hour (5 mph) will be enforced. All vehicles must be hardware governed not to exceed this maximum speed. No changes to maximum speed control hardware are allowed after the vehicle passes Qualification.
  • Mechanical E-stop location:  The E-stop button must be a push to stop, red in color and a minimum of one inch in diameter.  It must be easy to identify and activate safely, even if the vehicle is moving.  It must be located in the center rear of vehicle at least two feet from ground, not to exceed four feet above ground.  Vehicle E-stops must be hardware based and not controlled through software.  Activating the E-Stop must bring the vehicle to a quick and complete stop.
  • Wireless E-Stop:  The wireless E-Stop must be effective for a minimum of 50 feet.  Vehicle E-stops must be hardware based and not controlled through software.  Activating the E-Stop must bring the vehicle to a quick and complete stop.  During the competition performance events (Autonomous Challenge and Navigation Challenge) the wireless E-stop will be held by the Judges.
  • Payload: Each vehicle will be required to carry a 20-pound payload. The shape and size is approximately that of an 18" x 8" x 8" cinder block. Refer to section I.3 Payload.

 

I.3 Payload

 

      The payload must be securely mounted on the vehicle.  If the payload falls off the vehicle during a run, the run will be terminated.  The payload specifications are as follows:  18 inches long, 8 inches wide, 8 inches high and a weight of 20 pounds.

 

I.4 QUALIFICATION

 

            All vehicles must pass Qualification to receive standard award money in the Design Competition and compete in the performance events (Autonomous Challenge and Navigation Challenge).  To complete Qualification the vehicle must pass/perform the following eight criteria.

 

  • Length:  The vehicle will be measured to ensure that it is over the minimum of three feet long and under the maximum of seven feet long.
  • Width: The vehicle will be measured to ensure that it is over the minimum of two feet wide and under the maximum of five feet wide.
  • Height: The vehicle will be measured to ensure that it does not to exceed six feet high; this excludes emergency stop antennas.
  • Mechanical E-stop:  The mechanical E-stop will be checked for location to ensure it is located on the center rear of vehicle a minimum of two feet high and a maximum of four feet high and for functionality.
  • Wireless E-Stop:  The wireless E-Stop will be checked to ensure that it is effective for a minimum of 50 feet.  During the performance events the wireless E-stop will be held by the Judges. 
  • Max Speed:  The vehicle will have to drive at full speed over a prescribed distance where its speed will be determined.  The vehicle must not exceed the maximum speed of five miles per hour.  No change to maximum speed control hardware is allowed after qualification.  If the vehicle completes a performance event at a speed faster then the one it passed Qualification at, that run will not be counted.
  • Lane Following:  The vehicle must demonstrate that it can detect and follow lanes.
  • Obstacle Avoidance:  The vehicle must demonstrate that it can detect and avoid obstacles.
  • Waypoint Navigation: Vehicle must prove it can find a path to a single 2 meter navigation waypoint.

 

During the Qualification the vehicle must be put in autonomous mode to verify the mechanical and wireless E-stops and to verify lane following and obstacle avoidance.  The vehicle software can be reconfigured for waypoint navigation qualification.  For the max speed run the vehicle may be in autonomous mode or joystick/remote controlled.  Judges will not qualify vehicles that fail to meet these requirements.  Teams may fine tune their vehicles and resubmit for Qualification.  There is no penalty for not qualifying the first time.  Vehicles that are judged to be unsafe will not be allowed to compete.  In the event of any conflict, the judges’ decision will be final.

 

I.5 INDEMNIFICATION AND INSURANCE

 

Teams will be required to sign an application form prior to February 29, 2008.  Along with the application form, there will be a Waivers of Claims that will need to be signed by each individual who will be participating at the competition.

Additionally, the Team's sponsoring institution will also be required to supply AUVSI with a Certificate of Insurance at the time the Application Form is submitted. The certificate is to show commercial general liability coverage in an amount not less than $1 million.

NOTE: The IGVC Committee and Officials will try to adhere to the above official competition details, rules and format as much as possible. However, it reserves the right to change or modify the competition where deemed necessary for preserving fairness of the competition. Modifications, if any, will be announced prior to the competition as early as possible.  

 

II AUTONOMOUS CHALLENGE COMPETITION

All teams must pass Qualification to participate in this event.

 

II.1 OBJECTIVE

 

A fully autonomous unmanned ground robotic vehicle must negotiate around an outdoor obstacle course under a prescribed time while staying within the 5 mph speed limit, and avoiding the obstacles on the track.

Judges will rank the entries that complete the course based on shortest adjusted time taken. In the event that a vehicle does not finish the course, the judges will rank the entry based on longest adjusted distance traveled. Adjusted time and distance are the net scores given by judges after taking penalties, incurred from obstacle collisions, pothole hits, and boundary crossings, into consideration.

 

II.2 VEHICLE CONTROL

 

Vehicles must be unmanned and autonomous. They must compete based on their ability to perceive the course environment and avoid obstacles.  Vehicles cannot be remotely controlled by a human operator during competition.  All computational power, sensing and control equipment must be carried on board the vehicle.

 

II.3 OBSTACLE COURSE

 

            The course will be laid out on grass, pavement, simulated pavement, or any combination, over an area of approximately 60 to 120 yards long, by 40 to 60 yards wide and be 700 to 800 feet in length.  This distance is identified so teams can set their maximum speed to complete the course pending no prior violations resulting in run termination.  The course boundaries will be designated by continuous or dashed white and/or yellow lane markers (lines) approximately three inches wide, painted on the ground.  Track width will be approximately ten feet wide with a turning radius not less then five feet. Alternating side-to-side dashes will be 15-20 feet long, with 10-15 feet separation.

Expect natural or artificial inclines with gradients not to exceed 15%, sand pit (sand depth 2 - 3 inches) and randomly placed obstacles along the course. The course will become more difficult to navigate autonomously as vehicle progresses.  The sand pit may be simulated with a light beige canvas tarp covering the entire width of the track for ten feet.

Obstacles on the course will consist of various colors (white, orange, brown, green, black, etc.) 5-gallon pails, construction drums, cones, pedestals and barricades that are used on roadways and highways.  Natural obstacles such as trees or shrubs and man made obstacles such as light post or street signs could also appear on the course.  The placement of the obstacles may be randomized from left, right, and center placements prior to every run.

Potholes will be two feet in diameter and two inches in depth will be placed on the course.  Simulated potholes are two feet diameter white circles, and may also be used on the course (Course width will be adjusted here to insure minimum passage width).

There will be a minimum of six feet clearance, minimum passage width, between the line and the obstacles, i.e. if the obstacle is in the middle of the course then on either side of the obstacle will be six feet of driving space. Or if the obstacle is closer to one side of the lane then the other side of the obstacle must have at least six feet of driving space for the vehicles.

Also in the event will be complex barrel arrangements with switchbacks and center islands. These will be adjusted for location between runs.  Direction of the obstacle course may also be changed between heats.

 

Examples of Obstacle Configurations on the Autonomous Course

 

Drawing needs changes we don’t do traps need switch backs and center & side islands

 

 II.4 COMPETITION PROCEDURES

 

  • The competition will take place in the event of light rain or drizzle but not in heavy rain or lightning.
  • Each qualified team will have the up to three runs (time permitting) in each of three (3) heats.
  • Judges/officials will assign a designated starting order. Teams will setup on-deck in that order. Failure to be on-deck will place you at the end of the order for the run and may forfeit you final (third) run in a heat based on heat time completion.
  • No team participant is allowed on the course before the team’s first run, and only one team member is allowed on the course during a run.
  • At the designated on-deck time, the competing team will be asked to prepare their vehicle for an attempt. On-deck teams start in the order they arrive in the starting area unless they give way to another team.
  • The Starting Official will call teams to the starting line.  The Starting Officials’ direction is final; the Starting Official may alter the order to enhance the competition flow of entries (e.g. slower vehicles may be grouped together to allow the running of two vehicles on the course simultaneously).
  • A team will have one minute in the starting point to prep the vehicle for the judge to start the vehicle.
  • The judge will start the vehicle by a one touch motion; i.e. hitting the enter key of a keyboard, a left mouse click, lifting the e-stop up, flipping a toggle switch, etc.
  • An attempt will be declared valid when a designated judge gives the start signal at the designated competing time. An attempt will continue until one of the following occurs:
    • The vehicle finishes the course.
    • The vehicle was E-Stopped by a judge’s call.
    • The team E-Stops the vehicle.
    • Five minutes have passed after the vehicle run has started.
    • The vehicle has not started after one minute after moving to the start line or at the judges’ discretion.
    • Teams will ready the vehicle for start and advice the IGVC Judge to push one button to start the vehicle, the vehicle must be ready for a judges start command in one minute.
    • An official will carry the E-Stop.
  • Time for each heat will be strictly observed.
  • Tactile sensors will not be allowed.
  • Actual potholes (two feet in diameter and two inches deep) or simulated potholes (two feet diameter top soil circle) will introduced on the course.
  • Each vehicle will be given 5 minutes per attempt to complete the course, if the vehicle has not completed the course in the 5 minute time period, it will ended by a judge’s choice E-stop, with no penalty assigned for that run.
  • Each vehicle must navigate the course by remaining inside the course boundaries and navigating around course obstacles. For the following Traffic Violations, the appropriate ticket will be issued and deducted from the overall distance or time score.  Refer to section II.5 Traffic Violation Laws.

 

II.5 Traffic Violation Laws

 

 

Traffic Violations

Ticket Value

E-Stop

Measurement

1

 Leave the Course/Scene

- 10 Feet

Yes

Yes

2

 Crash/Obstacle Displacement

- 10 Feet

Yes

Yes

3

 Careless Driving

- 5 Feet

No

No

4

 Sideswipe/Obstacle Touch

- 5 Feet

No

No

5

 Student's Choice E-Stop

- 5 Feet

Yes

Yes

6

 Judge's Choice E-Stop

0 Feet

Yes

Yes

7

 Potholes

- 5 Feet

No

No

8

 Blocking Traffic

- 5 Feet

Yes

Yes

9

 Loss of Payload

0 Feet

Yes

Yes

 

  • Leave the scene\course:  All portions of the vehicle cross the boundary.  The overall distance will be measured from the starting line to the furthest point where the final part of the vehicle crossed the boundary outside edge.
  • Crash: The overall distance will be measured from the starting line to the collision point with the obstacle.
  • Careless Driving: Crossing the boundary while at least some part of the vehicle remains in bounds.
  • E-Stop: The overall distance will be measured from the starting line to the front of the vehicle or where the final/furthest remaining part of vehicle if stopped, crossed the boundary outside edge.
  • Obstacle Displacement: Defined as displacing permanently the obstacle from its original position. Rocking/Tilting an obstacle with no permanent displacement is not considered obstacle displacement. Rocking/Tilting is a – 5 feet ticket value.
  • Actual and Simulated Potholes:  Hitting or crossing potholes will result in – 5 feet ticket value for each pothole hit or crossed and render run ineligible for standard prize money.