P16241: Autonomous People Mover Phase 3


Project Summary Project Information

At the beginning of the project, the Phase III team was given a Project Readiness Package which outlined the goals, requirements, and scope of the Autonomous People Mover.


Cart Setup

Driving Modes

Subsystems & Sensors

For Future Teams


RIT is re-entering the field of autonomous vehicle research and would like to showcase a functional prototype of an autonomous golf cart at Imagine RIT 2016.

Phase III's current status of the Autonomous People Mover (APM) is based off of the work from Phase II and Phase I.

Phase III's goal for the APM is to have it run through a pre-learned course while avoiding any obstacles that are placed in it's way. During this trial, a team member shall be in the vehicle to ensure the safety of all passengers and bystanders.

For more information about the past phases check out Phase I & Phase II.


Problem Definition Phase

During this phase, the team met with the customer to define the requirements, expectations, and goals for the project. The team also met with the Phase II team in order to understand the current status of the people mover and to set up constant communication for the assurance of an easy transition from Phase II to Phase III. Additionally, the team created a set of values and norms to ensure that the project is successful and the team has effective communication. Lastly, the team performed a risk analysis where it was determined what effect that potential risks could have on the project.

Our Problem Definition Phase Review Presentation can be seen here.

Systems Design Phase

During this phase, the team created a functional decomposition for the autonomous people mover and generated several concepts to accomplish the team's goal. These concepts were then compared against each other in order to select an overall concept. Additionally, the team bench marked on various related topics and completed a number of feasibility analyses. Lastly, the team identified a number of additional risks associated with the selected concept.

Our Systems Design Phase Review Presentation can be seen here.

Subsystems Design Phase

During this phase, the team dug deeper into their concept and developed a path planning prototype using Dijkstra's algorithm and Google Earth. Additionally, the team created a draft of an electrical enclosure with the various components that will be placed in it. Lastly, the team brainstormed potential ideas for the emergency stop consisting of no software.

Our Subsystems Design Phase Review Presentation can be seen here.

Preliminary Detailed Design Phase

During this phase, the team took a step back and determined additional tasks that were going to be needed based on the Phase II team's progress. The team looked into mounting various sensors while deciding on a GPS module to purchase. Aside from this, the team created designs for both a mechanical and electrical emergency stop. Lastly, a number of documents were created to keep track of project status along with documenting the various tasks and information that come up throughout the process.

Our Preliminary Design Phase Review Presentation can be seen here.

Detailed Design Phase

During this phase, the team's goal was to prepare everything that they needed in order to implement their designs. This included drawings with dimensions of all mechanical parts, schematics, software flow diagrams, and a preliminary schedule for building next semester. Additionally, an improvement was seen in the current steering control where it would make the cart much simpler with regards to hardware and logic.

Our Detailed Design Review Presentation can be seen here.


Phase I Phase II
Project Name
Autonomous People Mover Phase III
Project Number
Project Family
Vehicle Systems and Technology Track
2151 - 2155
Faculty Guide
Michael Blachowicz
Primary Customer
Dr. Raymond Ptucha
Sponsor (financial support)
Kodak Alaris
Maval Gear
D3 Engineering
Industrial & Systems Engineering Department
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public/Photo Gallery/Wegmans.png

Team Members

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TOP ROW (L to R): Eric Schulken, Cody Smith, Joe Hudden

BOTTOM ROW (L to R): David Ruan, Alex Avery, Mike Zielinski, Jessica VanGiesen

Member Role Additional Role Major Contact
Joe Hudden Project Manager --- IE jmh4206@rit.edu
Eric Schulken Controls & Mechanical Design Mounting Lead ME ems1552@rit.edu
Cody Smith Engineering Lead, Software & Communication Main Arduino Code Lead CE cds7494@rit.edu
Jessica VanGiesen Electrical & Safety Design Enclosure Subsystem Lead EE jlv4851@rit.edu
David Ruan Power & Electrical Design Power Subsystem Lead EE dxr2863@rit.edu
Michael Zielinski Controls & Safety Design Brake & Throttle Subsystems Lead EE mrz7263@rit.edu
Alex Avery Software, Communication & Electrical Design Steering Subsystem Lead CE aja9675@rit.edu
Michael Blachowicz Guide mxbddm@rit.edu

Table of Contents


Project Management

Planning & Execution

Photo Gallery

Imagine RIT

Problem Definition

Systems Design

Subsystem Design

Preliminary Detailed Design

Detailed Design

Gate Reviews

Build & Test Prep (Week 2 Review)

Subsystem Build & Test (Week 5 Demo)

Integrated System Build & Test (Week 8 Demo)

Integrated System Build & Test with Customer Demo (Week 11 Demo)

Customer Handoff & Final Project Documentation

Meeting Notes