Alice
From DGC Wiki
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Alice is our 2005 and 2007 entry in the DARPA Grand Challenge and our current research vehicle. This page contains links to documentation on Alice. This page is currently under construction. Contact Richard if you are looking for something and can't find it.
- 2007 Technical Paper - this paper contains an overview of Alice as it is configured for the 2007 Urban Challenge.
- JFR05 Paper - this paper contains an overview of Alice as it was configured for the 2005 Grand Challenge. Recommended reading for anyone trying to understand how it all works.
- Alice Hardware Overview - overview of the hardware architecture for Alice
- Alice Software Architecture - overview of the software architecture for Alice. See also: 2005 Software Overview (architecture for the 2005 Grand Challenge)
- Alice Static and Dynamic Vehicle data
- Alice Power Diagram
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Checklists
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2007
- 2007 Site Visit Checklist - how to set up Alice to run with site visit scripts
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2005
- Field Test Checklist - use this for going out on a field test
- Database Transfer - copy databases to Alice for use in the field
- Transporting Alice Checklist - what to do before driving Alice away
- Alice Startup - instructions for starting up Alice in autonomous mode
- Alice Check-In Procedure - what to do when you get Alice back to the shop
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Module Documentation
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2007 Application Modules
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2007 Library Modules
- gcmodule - classes for implementing canonical software architecture
- More coming; see YaM page for now
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Additional Tools
- falcon - a library of functions for implementing controllers
- player - play back skynet messages logged by author
- skynet - messaging system for sending data between computers
- spread - message transport mechanism used by skynet
- sparrow - a real-time display library for use on ANSI terminals
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2005 Race Modules
- adrive - vehicle interface, including throttle, brake, steering, transmission, OBD-II
- astate - state estimator, including GPS (Navcom and Novatel), IMU
- fusionMapper - sensor fusion and creation of velocity cost map
- ladarFeeder - read LADAR unit and generate DEM and speed maps
- plannerModule - trajectory generation based on velocity cost map
- trajFollower - trajectory tracking controller (see also follow)
- superCon - supervisory controller
- stereoFeeder - read stereo cameras and generate DEM and speed maps
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2005 Test Modules
- author - skynet message logging tool
- gui - graphical user interface to view maps, plans and other data
- timber - data logging tool
- follow - Tool for testing controllers (and eventually, observers) on Alice
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Hardware Components
- Alice Transmision actuator - Shifter relocated to floor
- Alice Brake Actuator
- Alice Throttle Actuator
- Alice E-Stop
- Navcom SF-2050 GPS - not in use (as of 6/14/06)
- antenna - mounted rear driver side of sensor platform
- gps unit - mounted on rear top of actuator cabinet
- NovAtel DL-4plus GPS
- antenna - mounted over center rear axle on roof
- gps unit - mounted on fore top of actuator cabinet
- IMU - mounted center of sensor platform
- SICK Ladars
- roof - mid range, 180 degree, mounted passenger side roof - does not start (as of 6/14/06)
- small - mid range, 100 degree, mounted driver side roof - does not start (as of 6/14/06)
- bumper - 180 degree, mounted in front bumper - no feeder, used only for road finding
- front - super short range, 100 degree, mounted on front bumper - removed from vehicle (6/14/06)
- Riegl - long range, 80 degree, mounted center roof
- Cameras - mounted on single plane, machined aluminum lens bosses + sliding covers
- Long range stereo pair - ends of camera mount
- Short range pair - middle of camera mount
- road finding camera - center high on camera mount
- compressed air lens cleaning systems - not in use(unplugged, air disconnected) (as of 6/14/06)
- for roof ladars - mounted roof center
- for cameras - mounted roof passenger side
- for bumper ladars - mounted in bumper - broken (as of 6/14/06)
- Computer Box (as of 6/14/06)
- Skynet 1 - actuators, OBDII
- Skynet 2 -
- Skynet 3 - stereo pair
- Skynet 5 - Ladars, GPS units
- Skynet 6 - stereo pair
- Skynet 7 - road finding camera
- Sitka
- single UPS - powers all computers
- single KVM - 8 computer,4 terminal
- single ethernet switch
- cooled by twin RV roof fans pulling air through
- Honda EU3000is (generator) - powers inverters when on
- 5 gallon external fuel tank
- 3.4 gallon internal fuel tank - lines leak, disabled (as of 6/14/06)
- 2x Power inverters - charge batteries when plugged into wall/generator, invert from batteries to internal power and UPS
- 4x deep cycle marine batteries - power inverters, under vehicle in rear
- 2x air compressors + storage tank
- wheels and tires (as of 6/14/06)
- BFGoodrich Mudterrain T/A - 285/75 R16
- aluminum wheels - 10"x16"
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Additional Information
- Sensor Mount Vibration Characteristics
- Alice Interior Design Specs - a description of what is supposed to be inside of Alice
- Alice Vehicle Information - information on Alice the Van (including options, VIN)
- asim - Hardware in the loop simulation for Alice
- Race computers - overview of the computing architecture for Alice (and the simulation cluster)
- DGC cluster - information about the overall cluster structure
- RNDF Editor - GUI interface for editing RNDF files
![[Main Page]](../../../../upload/alice.jpg)