What is AVT?

The Autonomous Vehicle Team (AVT) is a student organization devoted to the development and advancement of unmanned autonomous vehicles. Students design and build robotic vehicles to compete in the Intelligent Ground Vehicle Competition (IGVC ), an annual contest that stresses performance in autonomous operations , GPS navigation, and overall vehicle design.

Since 1996, the Autonomous Vehicle Team has designed and built one or more new vehicles to enter into the IGVC competition. Last year, AVT built two new electrically driven platforms that were tremendously successful at competition. These two platforms, named Johnny-5 and Gemini, make use of digital Firewire cameras, differential global positioning systems, digital compasses, and scanning laser range finders. These four sensors are the basis for the vehicle's ability to perceive the surrounding environment and navigate autonomously. These innovative platforms were successful at competition due to the streamlined system integration, reliable navigation software, and unique vehicle design.

Optimus, Johnny-5, and Gemini at the 2004 Intelligent Ground Vehicle Competition

Back Row: Karl Muecke, Michael Fleming, Brett Gombar, Jacob Dillow, Andrew Bacha, Ankur Naik , Mike Avitabile , Sean Baity and Andrew Skidmore

For the 2005 IGVC, the Autonomous Vehicle Team upgraded Johnny-5 and Gemini and reentered the vehicles into the competition. The team also designed and built Polaris, a new vehicle that is the synthesis of the best qualities of the extremely successful Johnny-5 and Gemini designs.

From left to right: Front Row: Jordan Felps, Polaris, Bobby Mott, Gemini, Dr. Charles Reinholtz, and Johnny-5.

Back Row: Jon Weekley, Jeremy Blodgett, Tony Johnson, Nik Miller, Cloin Todd, Andrew Bacha, Sean Baity, Dave Eargle, Mike Avitabile, and Brett Gombar.

In the autonomous challenge , vehicles must navigate within the boundaries of an obstacle course without running into obstacles. The course typically includes barriers, ramps, a sand pit and potholes. The course is defined by white or yellow boundary lines. The boundary lines have discontinuities to create more of a challenge. Each vehicle must carry a 20 lb payload while navigating the course. An obstacle known as “the money barrel ” is also placed on the course. If a team passes this obstacle, they are eligible for the $10,000 grand prize in that competition. The Virginia Tech team placed first and third in this competition. Pictures from past competitions are shown below.

Left: Optimus during the 2003 Autonomous Challenge

Right: Zieg during the 2003 Autonomous Challenge

The navigation challenge is meant to test the use of Global Positioning System (GPS) based navigation on each vehicle. Waypoints in an open field are chosen by the competition planners and distributed the day of competition to all teams entered into the competition. Each vehicle must successfully navigate as many waypoints as possible in the shortest amount of time. Obstacles are also placed on this course to force the vehicle not only to navigate but to choose the best path. The challenge is over if the vehicle leaves the course, hits a barrel, seven minutes pass, or returns to the starting point. Virginia Tech placed second and third in this competition last year. A picture of the GPS and mast is shown below.

The sensor mast of Gemini and team members Jordan Felps, Sean Baity (hidden), Sylvia Rigsby, and Dr. Charles Reinholtz (left to right)

The design competition is meant to bring all the various aspects of the competition together. Vehicle performance has no basis for how well a team does in this competition. The competition is based on two parts, a written report and an oral presentation. The written report is submitted before the competition and must include all the details about the vehicle such as the electronics, frame, software, and safety. The report must be well written and easy to understand with pictures to aid in the discussions. The oral presentation is a team's chance to sell its vehicle to the judges. Graphical aids, organization, and effective verbal communication are essential to doing well. The team also must readily answer any questions that the judges have of them. Virginia Tech placed first and second in this aspect of the IGVC last year.

The 2003 Optimus design presentation with Michael Carr (left) and Ruel Faruque

Please visit the IGVC website for more information on the competition, as well as contest rules and media!

If you are interested in getting involved, please join us for one of our meetings on Tuesdays and Thursdays at 5:00 PM in Randolph 206A or contact Dr. Reinholtz: creinhol@vt.edu.