Ground Robotics Reliability Center University of Michigan College of Engineering GRRC # 1 Reliable Operations of Unmanned Ground Vehicles: Research at the Ground Robotics Reliability Center http://grrc.engin.umich.edu/ Dawn M. Tilbury, Professor Mechanical Engineering College of Engineering, University of Michigan, Ann Arbor College of Engineering University of Michigan Ann Arbor TARDEC: U.S. Army Tank Automotive Research, Development and Engineering Center
23
Embed
Reliable Operations of Unmanned Ground Vehicles: … Robotics Reliability Center University of Michigan College of Engineering GRRC # 1 !! Reliable Operations of ! Unmanned Ground
This document is posted to help you gain knowledge. Please leave a comment to let me know what you think about it! Share it to your friends and learn new things together.
Transcript
Ground Robotics Reliability Center University of Michigan College of Engineering
GRRC # 1
!
!Reliable Operations of !
Unmanned Ground Vehicles: !Research at the !
Ground Robotics Reliability Center!!
http://grrc.engin.umich.edu/ !!
Dawn M. Tilbury, Professor!Mechanical Engineering!
College of Engineering, University of Michigan, Ann Arbor!!!
College of Engineering !University of Michigan!Ann Arbor!
TARDEC: U.S. Army Tank Automotive Research, Development and Engineering Center
Ground Robotics Reliability Center University of Michigan College of Engineering
GRRC # 2
Reliable Operations!
Critical Unmet Needs in Unmanned Ground Vehicles and Robotics!• Tactical Behaviors • Autonomous Controls • 360 Degree Awareness • Safe Operations of Robots Around Humans • Reliability & Manufacturing • Machine-Human Interface • Platform Mobility • Tele-Operation
Milestones of the GRRC • Established with a few projects in 2007 • Kick-off as GRRC in August 2008 • iRobot as industry member; PackBot donation • Focus on Reliable Operations of Ground Robotics Center Goals: • Develop research to support reliable performance and operation of
unmanned ground vehicles (UGVs) and robots. • Educate graduate students in reliable design and operation of
UGVs through research projects, curriculum and courses. • Increase the impact and speed of delivering cutting-edge reliable
UGV technology readiness for the soldier
Ground Robotics!Reliability Center
Ground Robotics Reliability Center University of Michigan College of Engineering
GRRC # 4
Challenges in UGV Reliable Operation!
• Robotics has grown out of a hobbyist mindset (i.e., prototypes, demos)!
Ground Robotics Reliability Center University of Michigan College of Engineering
GRRC # 16
Simulation-based testing!• Simplified model of Packbot,
dynamic model in ADAMS!• Determine rollover limit with
different manipulator positions!
Jin & Ulsoy
Ground Robotics Reliability Center University of Michigan College of Engineering
GRRC # 17
Robust mechanical design!• Adding a torsional spring can reduce the
required torque on the manipulator arm!• Design optimized for nominal trajectory!• Q: How does the extra complexity affect
reliability?!
Figure 2) Model joint drive train schematic.
New design
New model
Ulsoy
Ground Robotics Reliability Center University of Michigan College of Engineering
GRRC # 18
Moving Obstacle Avoidance with Sensor Uncertainty!• Velocity occupancy space gives weights
based on probability of collision with obstacles for different robot velocities!
• Laser-scan data to estimate obstacles position and velocities!
• Combine negative weights of obstacles with positive weightfor goal position!
Peng & Ulsoy
Ground Robotics Reliability Center University of Michigan College of Engineering
GRRC # 19
Indoor position tracking!• GPS unavailable, video feed disorienting!• Solution: Dead-reckoning plus heuristics!
(a)
(b)
Figure 1: With our newly proposed Heuristics-enhanced Odometry (HEO) method, operators of remotely-controlled mobile robots will see the trajectory of their robot on their console, even in GPS-denied, indoor environments. (a) Conventional odometry-derived trajectory in a GPS denied indoor environment. (b) Trajectory of same indoor trip, but now with HEO.
Same gyro & odometry, after applying our
heuristics algorithm.
(a)
(b)
Figure 1: With our newly proposed Heuristics-enhanced Odometry (HEO) method, operators of remotely-controlled mobile robots will see the trajectory of their robot on their console, even in GPS-denied, indoor environments. (a) Conventional odometry-derived trajectory in a GPS denied indoor environment. (b) Trajectory of same indoor trip, but now with HEO.
Conventional gyro & odometry-derived trajectory in a GPS-denied
indoor environment.
Borenstein
Ground Robotics Reliability Center University of Michigan College of Engineering
GRRC # 20
Leader-Follower Navigation without Line-of-Sight!• Personal dead-reckoning on leader plus
simple IMU on robot follower!• To avoid unbounded heading errors, impose
synchronization on heading!• Up to one minute lag accommodated!
Borenstein
Ground Robotics Reliability Center University of Michigan College of Engineering
• Solar Integrated Plug-in Hybrid Power System• Extended mission time and capability; Quick refueling• Battery charged on board or recharge dock• Autonomous energy-sustaining strategy• Silent mode; Regenerative Braking