1 E190Q – Project Introduction Autonomous Robot Navigation Team Member 1 Name Team Member 2 Name
Dec 18, 2015
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E190Q – Project IntroductionAutonomous Robot Navigation
Team Member 1 Name
Team Member 2 Name
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Preliminary Project Presentation
1. Problem Definition Written definition Overview image Provide performance metrics
2. Background Include 3+ references Be sure to provide full citation Use images from references Describe key findings of paper
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Preliminary Project Presentation
3. Proposed Solution Block Diagram including sensors and
actuators (inputs, outputs, closed loop )
4. Measurable Outcomes List potential plots or tables of performance
metrics
5. Milestones List major tasks with dates Identify team member responsible if
applicable
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Preliminary Project Presentation
Notes: 5 minute time limit for slides Both students must present Students will help with assessment Presentations on Monday, April 1, 2013
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Problem Definition
To design a Multi AUV Task Planner that considers kinematic constraints
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Problem Definition
To design a Multi AUV Task Planner that considers kinematic constraints
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Problem Definition
Given N task point locations and M AUVs
Determine The assignment of tasks to AUVs and AUV
tours of assigned task points that minimizes the maximum path length all AUV tours.
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Problem Definition
Performance Metrics Maximum AUV tour length Planning Time or run time complexity
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Background
[1] R. Zlot, A. Stentz, M. B. Dias, and S. Thayer, Multi-robot exploration controlled by a market economy, in Proc. IEEE Conf. Robotics and Automation, vol.3, Washington, DC, pp. 3016-3023, 2002. Used an auction based method in which task points are
auctioned off to robot with the highest bid (i.e. lowest additional path cost).
Decentralized. Fast, O(MN), but Sub-optimal
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Background
[2] L. E. Dubins, On curves of minimum length with a constraint on average curvature and with prescribed initial and terminal position and tangents, American J. Mathematics, vol. 79, no. 3, pp. 497-516, Jul. 1957. Demonstrated the shortest path between points when minimum turn
radius is a constraint Shortest Path is a connected curve of minimum radius, straight line
segment, and curve of minimum radius
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Background
[3] Chow, Clark, Huissoon, Assigning Closely Spaced Targest to Multiple Autonomous Underwater Vehicles, Journal of Ocean Engineering, Vol. 41-2 2007. Algorithm considers vehicle dynamics and currents Demonstrated that using euclidean distance between task
points is a poor metric for calculating tour path length when task points are tightly spaced
Real Ocean Deployments
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Background
[3] Chow, Clark, Huissoon, Assigning Closely Spaced Targest to Multiple Autonomous Underwater Vehicles, Journal of Ocean Engineering, Vol. 41-2 2007. Algorithm considers vehicle dynamics and currents Demonstrated that using euclidean distance between task
points is a poor metric for calculating tour path length when task points are tightly spaced
Real Ocean Deployments
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Proposed Solution
N Task Point Locations
M AUV Locations
Task AssignmentAlgorithm
Task SequenceAlgorithm
AUV Path Construction
Algorithm
M AUV Paths
M TaskAssignments
M TaskSequences
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Proposed Solution
Task Assignment Algorithm Cluster N points into M groups K-means clustering
algorithm Assign one AUV to each cluster using a greedy
assignment algorithm
Task Sequence Algorithm Find next closest point algorithm
AUV Path Construction Algorithm Fit arc path segments between each task point of a
sequence
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Measurable Outcomes
Run time as a function of the number of robots
Average AUV path length for various ratios of N/M
Comparison of average AUV path length when using standard MTSP planner and MTSP planner that considers kinematic constraints
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Milestones
Data Task
Jan 15 Develop multi-AUV simulator
Feb 1 Implement Auction Based Task Planner MTSP solution
Mar 1 Implement Auction Based Task Planner MTSP solution
Mar 8 Run 100 simulations for each parameter setting
Mar 15 Present planner and results