Putnam, Craig B.
The goal of this project is to recharge autonomous electric vehicles, thus automating one of the last steps preventing a level 5 autonomous vehicle from being completely independent from human assistance. For this project we are using an ABB industrial robotic arm with a custom end effector. Our tooling has force sensing and a tool changer, allowing for switching between a pneumatic flap opener and two charging port standards. To help us achieve this goal we implemented custom computer vision and point cloud processing software. System integration was done using ROS-Industrial. Ultimately, while we were able to plug in our test vehicle using the ABB arm, there were issues with latency as well as with the reliability of the real time path planning features of ROS-Industrial.
Worcester Polytechnic Institute
Major Qualifying Project
All authors have granted to WPI a nonexclusive royalty-free license to distribute copies of the work, subject to other agreements. Copyright is held by the author or authors, with all rights reserved, unless otherwise noted.
Electrical and Computer Engineering