P18241: Autonomous People Mover V
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Preliminary Detailed Design

Table of Contents

Team Vision for Preliminary Detailed Design Phase

Summarize:

APM Profiling For Feasibility

In order to assess the feasibility of using existing sensors and components for the goal of wandering, as well as to assess the ability of the APM with the chosen systems in performing wandering and identifying dead zones and limitations of the cart, the systems of the APM were tested and profiled to extract usable metrics of performance. In the first phases of profiling the APM, three systems were tested: steering, braking, and throttle.

By the end of MSD I, the end goal of profiling the APM is to profile all systems that will be used to achieve the goal of wandering, which include the LiDAR sensors, as well as cameras used for computer vision, and the system chosen to perform curb detection. Certain systems have yet to be profiled as they have either not been acquired or decided upon (i.e. curb detection), or are not in their final mounted positions on the APM (i.e. camera, VLD-16 LiDAR). These measurements will be combined into a multi-image 2-D visualization, or possibly a 3-D representation, to illustrate what the capabilities of the APM should be and where any dead zones are with the design in terms of the mounting and sensing abilities of each component.

The current measurements and limitations acquired and assessed for the APM steering, braking, and throttle systems are as follows:

Steering:

Brake:

Throttle:

The current running APM Profiling document can be found here: APM Profiling Checklist

Component Pugh Charts

Based on measurements acquired from profiling the APM, as well as the need for systems to detect curbs and determine safe versus unsafe paths of travel, pugh charts were created to weigh different options for said systems.
Curb Detection Sensor Pugh Chart

Curb Detection Sensor Pugh Chart

The Curb Detection Sensor Pugh Chart document can be found here: Curb Detection Sensor Pugh Chart

Camera Sensor Pugh Chart

Camera Sensor Pugh Chart

The Camera Sensor Pugh Chart document can be found here: Camera Sensor Pugh Chart

System Architecture Diagrams

System Level Architecture Diagram

System Level Architecture Diagram

ROS Architecture Diagram

ROS Architecture Diagram

Power Delivery Architecture Diagram

Power Delivery Architecture Diagram

All Google Draw.io files for each architecture diagram can be found here: Architecture Diagram Documents

Risk Assessment

Risk Assessment

Risk Assessment

The current Risk Assessment document can be found here: Architecture Diagram Documents

Plans for next phase


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