Post on 11-Jan-2016
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Component based,hardware-software system for fuzzy controlling of automated vehicles
László Siroki 5th year comp. sci.Tivadar Pápai 5th year comp. sci. Attila Geresdi 5th physicistSupervisor: Dr. László T. Kóczy, TMIT
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The motivation
Contest in Kiskunhalas, 2006 Task: build a mars rover model from simple elements The mission:
find a metal plate hidden under the sandy surface take sand sample over the plate take this back to the base dodge the obstacles
Difficulties every user command was delayed by 30s Orientation by the photos of a „satellite” (web camera)
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The „Tiger tank” before start
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On the way…
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Finish line
Base
We are behind the draught screen
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Construction
Caterpillar model vehicle Own motor driver electronics Controlling unit: „mitmót” (with TinyOS system)
Motor controlling, sensor handling, radio communication Sensors:
Metal detector Collision detector
Outputs: Trier (LEDs)
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Software architecture Component-based, replaceable elements,
expandable Implementation: C#.NET 2.0
GUI
World modelView, controler
View, controler
Rover configuration
Caterpillar model
Caterpillar controller
Caterpillar controlling
Position detector
objects
TinyOS message handling
Web camera locator
Position calculation
LED detection
Web camera handling
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Position-determination
Web camera at a fixed location
LEDs Pattern is important
Image processing Detection of LEDs Calculation of 3D
transformation Web camera
calibrationkB kE
kP
TB,E
TB,C
TC,P
TC,E
kDP
TP,DP
kCOdX dY
Xc (in camera frame)
Yc
(in c
amer
a fram
e)
Extracted corners
100 200 300 400 500 600
50
100
150
200
250
300
350
400
450
d
d
d
d
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The controller
Purpose: to follow a piece-wise linear path Difficulties:
The behavior of the rover is non-linearWe get the position of the rover delayed
The delay can oscillate
The system is non-linear
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The simpliest solution: fuzzy controller Inputs:
Angular deviation Angular velocity
Outputs: Average of the
caterpillar-tracks’ signals
and their difference
start
end
pseudo target
mars rover
angular deviation
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User interface
Configuration Sematic map
Path creation
Manual control Buttons Joystick
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Future plans - 1
Path planning Reduced to a physics
problem Springs with charged ends Repelling stones Finding the state with
minimal energy by Monte-Carlo method
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Future plans - 2
Simulator Necessity
Making development faster (developing without a vehicle) Optimization of the controller At the next year’s contest satellite picture will be available
every 1s, between these intervals we could estimate the vehicle’s position
Implementation MLP network (using its universal approximator property)
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Thank you for your attention!
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The fuzzy rules and the (Vd,Va) outputs\ NL NS Z PS PL
NL Z;Z Z;Z PL;Z PL;Z PL;Z
NS Z;Z PS;S PS;M PS;L Z;M
Z Z;S PS;M Z;L NS;M Z;S
PS Z;M NS;L NS;M NS;S Z;Z
PL NL;Z NL;Z NL;Z Z;Z Z;Z