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Autonomous Guidance Navigation and Control. Michael Gillham University of Kent SYSIASS Meeting University of Essex 21.04.11. Problems. Localisation and global goals. Local Minima and obstacle avoidance. Trajectory following smoothness. Sensor uncertainties or failure. - PowerPoint PPT Presentation
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Autonomous Guidance Navigation and Control
Michael GillhamUniversity of Kent
SYSIASS Meeting University of Essex 21.04.11
Problems• Localisation and global goals.
• Local Minima and obstacle avoidance.• Trajectory following smoothness.• Sensor uncertainties or failure.• Control robustness and safety
criticality.
Research• Integration of higher level control with lower level
incorporating learning and deliberation.• Local minima avoidance and goal seeking solutions.• Real-time dynamic and static collision avoidance
incorporated into the trajectory manifold.• Local path planning smoothness from look-ahead prediction.• Removal of chatter and instabilities from sliding mode.• Weightless neural network real-time feedback dynamic
controller.
Sensing for localisation and control
LIDAR: Accurate ranging to obstacles and targetsStereo vision: Angle, depth, motion.
Sonar: Immediate vicinity obstacles, motion. Magnetic: Simple inertial/body frame of reference.
GPS: Localisation and map planning.Gyroscope: MEMS, attitude feedback.
Accelerometers: Good feedback for smoothness.Wheel rotation sensor: Traction control.
Path Planning
Dynamic obstacle avoidance
Higher level and lower level control
Looking ahead
• Feedback and feed-forward• Virtual vehicle method• Look ahead point
Control• Weightless neural networks.
• Modularisation.• Sliding mode control.
• Alternate trajectories and bifurcation points.• Real-time dynamic and static collision
avoidance.• look-ahead prediction.
Hybrid Adaptive Intelligent Control
PlatformProcessor: 1000mips 500MHz Analog Devices Blackfin BF537, 32MB SDRAM, 4MB Flash, JTAG SRV-1 Blackfin Camera with 500MHz Analog Devices Blackfin BF537 processor, 32MB SDRAM, 4MB Flash, and OV7725 VGA low-light camera (up to 60fps) with 3.6mm f2.0 lens (90-deg field-of-view)laser pointers for ranging, support for up to 4 Maxbotics ultrasonic ranging modules and various I2C sensors