ME 597 Autonomous Mobile Robots Harvey Mudd 我的自主移动机器人597哈维玛德.pptVIP

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ME 597 Autonomous Mobile Robots Harvey Mudd 我的自主移动机器人597哈维玛德.ppt

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ME 597 Autonomous Mobile Robots Harvey Mudd 我的自主移动机器人597哈维玛德

* * * E190Q – Project IntroductionAutonomous Robot Navigation Team Member 1 Name Team Member 2 Name * Preliminary Project Presentation Problem Definition Written definition Overview image Provide performance metrics Background Include 3+ references Be sure to provide full citation Use images from references Describe key findings of paper * Preliminary Project Presentation Proposed Solution Block Diagram including sensors and actuators (inputs, outputs, closed loop ) Measurable Outcomes List potential plots or tables of performance metrics Milestones List major tasks with dates Identify team member responsible if applicable * 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 * Problem Definition To design a Multi AUV Task Planner that considers kinematic constraints * Problem Definition To design a Multi AUV Task Planner that considers kinematic constraints * 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. * Problem Definition Performance Metrics Maximum AUV tour length Planning Time or run time complexity * 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 * 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