Unmanned Underwater Vehicles Berkeley Robotics 无人水下机器人伯克利机器人.pptVIP

Pursuit Evasion Games for Multiple UUVs UUVs have the potential to provide an effective defense against submersible threats to military and civilian assets The strategies and protocols for their operation are at least as big a challenge as the design and construction of the vehicles themselves This project address the strategies and coordination protocols necessary to enable this technology Defense against enemy subs is the number one FNC that is called for in every briefing since 2000. Bear UUV Being DevelopedLt Tulio Celano III, USN Prior PEG Experience and Lessons Learned Pursuit evasion games (PEGs) have been demonstrated within our group using unmanned aerial and ground vehicle (UAVs and UGVs) in both two and three dimensions. Additionally, they have also been performed in both symmetrical and asymmetrical games Previous UC Berkeley PEG Experiments Berkeley Aerobot Project (BEAR) Goal: to build a coordinated, intelligent network with multiple heterogeneous agents 11 Rotorcraft-based unmanned aerial vehicles (UAVs) 5 Unmanned ground vehicles (UGVs) Shipdeck simulator (landing platform) Stochastic Pursuit-Evasion Games (PEG) Self-localization Target detection Map building Pursuit policy Trajectory generation Control / Action Previously: PEGs with 4 UGVs and 1 UAV Sub-problems for Pursuit Evasion Games Sensing Navigation sensors - Self-localization Detection of objects of interest Framework for communication and data flow Map building of environments and evaders How to incorporate sensed data into agents’ belief states ? probability distribution over the state space of the world (I.e. possible configuration of locations of agents and obstacles) How to update belief states Strategy planning Computation of pursuit policy ? mapping from the belief state to the action space Control / Action PEG Experiment with UAV/UGVs Evaluation of Policies for different visibility Global max policy performs better than greedy, since the greedy policy