Intelligent Autonomous Vehicles J. A. Farrell Department of Electrical Engineering University of...
-
Upload
reynold-dwight-cain -
Category
Documents
-
view
212 -
download
0
Transcript of Intelligent Autonomous Vehicles J. A. Farrell Department of Electrical Engineering University of...
![Page 1: Intelligent Autonomous Vehicles J. A. Farrell Department of Electrical Engineering University of California, Riverside.](https://reader035.fdocuments.us/reader035/viewer/2022070407/56649e435503460f94b36a03/html5/thumbnails/1.jpg)
Intelligent Autonomous Vehicles
J. A. Farrell
Department of Electrical Engineering
University of California, Riverside
![Page 2: Intelligent Autonomous Vehicles J. A. Farrell Department of Electrical Engineering University of California, Riverside.](https://reader035.fdocuments.us/reader035/viewer/2022070407/56649e435503460f94b36a03/html5/thumbnails/2.jpg)
Intelligent Autonomous Vehicles
ValueJudgment
Sensor World BehaviorProcessing Model Generation
Sensors Structure Actuators
World
Sensors Structure Actuators
World
SensorProcessing
BehaviorGeneration
Planning
WorldModel
Behavior Coordination
![Page 3: Intelligent Autonomous Vehicles J. A. Farrell Department of Electrical Engineering University of California, Riverside.](https://reader035.fdocuments.us/reader035/viewer/2022070407/56649e435503460f94b36a03/html5/thumbnails/3.jpg)
February 2009 UCR EE Department951-827-2159
Lane change: Interior view
![Page 4: Intelligent Autonomous Vehicles J. A. Farrell Department of Electrical Engineering University of California, Riverside.](https://reader035.fdocuments.us/reader035/viewer/2022070407/56649e435503460f94b36a03/html5/thumbnails/4.jpg)
Q: BehaviorsGT – go to point PUS – uninformed searchIS – informed searchMI – maintain: inMO – maintain: outPD – post-declaration maneuvers
: Eventsf – finishc – detect chemical @td
n1 – no detection at t = td + t1
d – declare source
DES: Chemical Plume TracingDesign behaviors Q, event definitions S, and transition function such that an autonomous underwater vehicle (AUV) will
• Proceed from a home location to a region of operation• Search for a chemical plume• Track a chemical plume in a turbulent flow to its source• Declare the source location• Return home
![Page 5: Intelligent Autonomous Vehicles J. A. Farrell Department of Electrical Engineering University of California, Riverside.](https://reader035.fdocuments.us/reader035/viewer/2022070407/56649e435503460f94b36a03/html5/thumbnails/5.jpg)
Q: BehaviorsGT – go to point PUS – uninformed searchIS – informed searchMI – maintain: inMO – maintain: outPD – post-declaration maneuvers
: Eventsf – finishc – detect chemical @td
n1 – no detection at t = td + t1
d – declare source
DES: Chemical Plume TracingDesign behaviors Q, event definitions S, and transition function such that an autonomous underwater vehicle (AUV) will
• Proceed from a home location to a region of operation• Search for a chemical plume• Track a chemical plume in a turbulent flow to its source• Declare the source location• Return home
f f
c c f
f c
n1 d
f
GT(P)
GT(H) PD
MI MO
US IS
![Page 6: Intelligent Autonomous Vehicles J. A. Farrell Department of Electrical Engineering University of California, Riverside.](https://reader035.fdocuments.us/reader035/viewer/2022070407/56649e435503460f94b36a03/html5/thumbnails/6.jpg)
CPT In-water Experimental Results (June 2003)
![Page 7: Intelligent Autonomous Vehicles J. A. Farrell Department of Electrical Engineering University of California, Riverside.](https://reader035.fdocuments.us/reader035/viewer/2022070407/56649e435503460f94b36a03/html5/thumbnails/7.jpg)
AUV for Hull Search
Behaviors:• velocity & angular rate• velocity & attitude• trajectory following w/ zero attitude• trajectory following w/ nonzero attitude• surface following• hold position and attitude• scan object at offset
Sim
![Page 8: Intelligent Autonomous Vehicles J. A. Farrell Department of Electrical Engineering University of California, Riverside.](https://reader035.fdocuments.us/reader035/viewer/2022070407/56649e435503460f94b36a03/html5/thumbnails/8.jpg)
UCR EE Department951-827-2159
Guidance: Positioning & GIS
![Page 9: Intelligent Autonomous Vehicles J. A. Farrell Department of Electrical Engineering University of California, Riverside.](https://reader035.fdocuments.us/reader035/viewer/2022070407/56649e435503460f94b36a03/html5/thumbnails/9.jpg)
UCR EE Department951-827-2159
Driver Warning• Lane Departure Warning & Guidance
– Requirement:• Accurate position determination relative to lane
• Collision Warning– Accurate determination of position relative to
nearby vehicles• Absolute position based
– Accurate position determination– Communication between vehicles
• Relative position based– Feature based: Vision, radar, lidar
![Page 10: Intelligent Autonomous Vehicles J. A. Farrell Department of Electrical Engineering University of California, Riverside.](https://reader035.fdocuments.us/reader035/viewer/2022070407/56649e435503460f94b36a03/html5/thumbnails/10.jpg)
UCR EE Department951-827-2159
Project Subgoals
• Absolute Position Determination– Determines: earth relative position, velocity,
acceleration, attitude, angular rates• Relative Position Determination
– Lane relative– Neighboring vehicle relative
• Vehicle Control– Determine the steering commands to force
the vehicle states to desired values.
d
r
![Page 11: Intelligent Autonomous Vehicles J. A. Farrell Department of Electrical Engineering University of California, Riverside.](https://reader035.fdocuments.us/reader035/viewer/2022070407/56649e435503460f94b36a03/html5/thumbnails/11.jpg)
![Page 12: Intelligent Autonomous Vehicles J. A. Farrell Department of Electrical Engineering University of California, Riverside.](https://reader035.fdocuments.us/reader035/viewer/2022070407/56649e435503460f94b36a03/html5/thumbnails/12.jpg)
Enabling Technological Advances• Computational Hardware• Sensors and Sensor Processing• Computational Reasoning• Control Theoretic Advances• Software Engineering Principles
Topics:– Deliberative & reactive planning– Behaviors & nonlinear control– Discrete event & hybrid systems– Theory & practicality: Cognitive mapping
Sensors Structure Actuators
World
SensorProcessing
BehaviorGeneration
Planning
WorldModel
Behavior Coordination
![Page 13: Intelligent Autonomous Vehicles J. A. Farrell Department of Electrical Engineering University of California, Riverside.](https://reader035.fdocuments.us/reader035/viewer/2022070407/56649e435503460f94b36a03/html5/thumbnails/13.jpg)
Concluding Comments• Turing Test:
– Optimal– Strong super-human: performs better than all humans– Super human: performs better than most humans– Sub-human: performs worse than most humans
• Intelligent AV Capabilities, e.g.:
– All involve feedback processes, w/ many challenging & unsolved problems
– Control expertise has & continues to expand its role, both developing & utilizing new tools, to yield increasingly robust and capable systems
• The concept of behaviors, combined w/ advanced control methods, enables robust abstraction for higher level IAV performance
Navigation Control
Data fusion Map building
Plan management Learning