Collision Avoidance

Information about Collision Avoidance

Published on December 31, 2007

Author: Oceane

Source: authorstream.com

Content

EE631 Cooperating Autonomous Mobile Robots Lecture 5: Collision Avoidance in Dynamic Environments:  EE631 Cooperating Autonomous Mobile Robots Lecture 5: Collision Avoidance in Dynamic Environments Prof. Yi Guo ECE Dept. Plan:  Plan A Collision Avoidance Algorithm A Global Motion Planning Scheme Nonholonomic Kinematic Model:  Nonholonomic Kinematic Model Coordinate transformation and input mapping (, are within (-/2,/2)): Chained form (after transformation): Assumptions: The Robot:  Assumptions: The Robot 2-dimensional circle with radius R Knowing its start and goal positions Onboard sensors detecting dynamic obstacles Assumptions: The Environment:  Assumptions: The Environment 2D environment with static and dynamic obstacles Pre-defined map with static obstacle locations known Dynamic obstacles represented by circles with radius ri Problem Formulation: Trajectory Planning:  Problem Formulation: Trajectory Planning Find feasible trajectories for the robot, enrouting from its start position to its goal, without collisions with static and dynamic obstacles. Feasible Trajectory in Free Space:  Feasible Trajectory in Free Space A family of feasible trajectories: Boundary conditions In original coordinate: In transformed coordinate: Parameterized Feasible Trajectory:  Parameterized Feasible Trajectory Imposing boundary conditions, parameterization of the trajectory in terms of a6: A, B, Y are constant matrices calculated from boundary conditions a6 increases the freedom of maneuver accounting for geometric constrains posed by dynamic obstacles Steering Paradigm:  Steering Paradigm Polynomial steering: Assume T is the time that takes the robot to get to qf from q0. Choose then A quick summary:  A quick summary System model: chained form Feasible trajectories: closed form parameterization Steering control: closed form, piecewise constant solution (polynomial steering) Next: Collision avoidance -- explicit condition based on geometry and time Dynamic Collision Avoidance Criteria:  Dynamic Collision Avoidance Criteria Time + space collision Dynamic Collision Avoidance Criteria:  Dynamic Collision Avoidance Criteria Time criterion: Assume obstacle moves at constant velocity during sampling period In original coordinate: In transformed coordinate : Dynamic Collision Avoidance Criteria:  Dynamic Collision Avoidance Criteria Geometry criterion: In original coordinate: In transformed coordinate: Mapping from x-y plane to z1-z4 plane indicates collision region within a circle of radius ri+R+l/2, since Dynamic Collision Avoidance Criteria:  Dynamic Collision Avoidance Criteria Time criterion + geometrical criterion + path parameterization g2, g1i, g0i are analytic functions of their arguments and can be calculated real time a6k exists if g2>0 g2>0 holds for every points except boundary points Global Path Planning Using D* Search:  Global Path Planning Using D* Search A shortest path returned by D* in 2D environment Global Motion Planning:  Global Motion Planning Algorithm flow chart Simulations:  Simulations In 2D environment with static obstacles (a6=0) Collision Trajectory:  Collision Trajectory Circles are drawn with 5 second spacing Onboard sensors detect: obstacle 1: center [23,15], velocity [0.1,0.2] obstacle 2: center [45,20], velocity [-0.1,-0.1] Collisions occurs Global Collision–Free Trajectory:  Global Collision–Free Trajectory a61=9.4086*10-6, a62=4.9973*10-6 Global Collision–Free Trajectory:  Global Collision–Free Trajectory Moving obstacle changes velocity: Original velocity [-0.15,-0.1], new velocity [0.15,-0.29] Calculated a62=9.4086*10-6, a62=4.9973*10-6 Readings::  Readings: Laumond book Chapter 1 “A new analytical solution to mobile robot trajectory generation in the presence of moving obstacles”, by Zhihua Qu, Jing Wang, Plaisted, C.E., IEEE Transactions on Robotics, Volume 20, Issue 6, Dec. 2004 Page(s):978 - 993

Related presentations


Other presentations created by Oceane

Framing
01. 12. 2007
0 views

Framing

Siderean Handout or final paper
05. 12. 2007
0 views

Siderean Handout or final paper

Fin525Fall2005Week9
02. 11. 2007
0 views

Fin525Fall2005Week9

fundraising ideas
05. 11. 2007
0 views

fundraising ideas

lect2 habit
19. 11. 2007
0 views

lect2 habit

Ocampo Session 2
07. 11. 2007
0 views

Ocampo Session 2

Scotland
23. 11. 2007
0 views

Scotland

a8 franck sld
26. 11. 2007
0 views

a8 franck sld

nursery calendar
04. 01. 2008
0 views

nursery calendar

Pond Management
04. 01. 2008
0 views

Pond Management

Lsn 11c
13. 11. 2007
0 views

Lsn 11c

TR presentation
21. 11. 2007
0 views

TR presentation

Lee Foot
03. 01. 2008
0 views

Lee Foot

blues
01. 10. 2007
0 views

blues

nih compliance five
29. 11. 2007
0 views

nih compliance five

Nikiforov
05. 01. 2008
0 views

Nikiforov

plant parts
07. 01. 2008
0 views

plant parts

rockies 05
02. 10. 2007
0 views

rockies 05

Toward  Independence  Powerpoint
28. 02. 2008
0 views

Toward Independence Powerpoint

Go Lean on Protein
04. 03. 2008
0 views

Go Lean on Protein

PDP NET Final
27. 11. 2007
0 views

PDP NET Final

pednutrition
06. 03. 2008
0 views

pednutrition

ESSCO 101 Presentation
11. 03. 2008
0 views

ESSCO 101 Presentation

Senate Background Color3
12. 03. 2008
0 views

Senate Background Color3

Inequalities and obesity Europe
14. 03. 2008
0 views

Inequalities and obesity Europe

Era09
18. 03. 2008
0 views

Era09

sanjay mathur
30. 03. 2008
0 views

sanjay mathur

Post Cold War
13. 04. 2008
0 views

Post Cold War

Imprecise Probability 3
15. 11. 2007
0 views

Imprecise Probability 3

t051111
20. 11. 2007
0 views

t051111

1 IntroducingNorilsk 05
13. 12. 2007
0 views

1 IntroducingNorilsk 05

Stuart Innes
05. 11. 2007
0 views

Stuart Innes

final ridge spring presentation
03. 10. 2007
0 views

final ridge spring presentation

barrpres
24. 02. 2008
0 views

barrpres

1115
16. 11. 2007
0 views

1115

astro330 31oct
05. 11. 2007
0 views

astro330 31oct

nichitiu
15. 11. 2007
0 views

nichitiu

Mampaey
19. 02. 2008
0 views

Mampaey

Exp Food Science
04. 01. 2008
0 views

Exp Food Science

Tesina ciani
12. 11. 2007
0 views

Tesina ciani