无人系统任务规划与执行.ppt

* * * This is a brief outline of the talk… Will talk about the general problem we are trying to solve Then give some motivation as to why we would even want to pursue USV technology Give some background on the state of the art of USVs. Then move on to the ECoPS software that was developed by previous colleague Then we’ll cover my contributions and show some results. * I’m going to start globally then work down to describe a specific aspect I have addressed. Before USVs can be reliable deployed greater autonomy must be achieved. There has not been as much effort and study of USV technology as UAVs. This gap needs to be closed for USVs to gain public acdceptance for deployment. CLICK Current technology requires multiple operators…CLICK An added level of difficulty is the potentially unpredictable behavior of other human operators on the water. USVs must be flexible and agile enough to deal unique scenarios CLICK Introduction into waterways results in potential injury and/or property loss. Specific laws for USVs have not been developed so we must operate the vehicles in accordance with accepted practices in order to reduce liability and increase safety CLICK The key enabler to dealing with the above two bullet points is a robust obstacle avoidance strategy. CLICK The startegy we have adopted is to define two regimes of obsacle avoidance…near field and far-field. This talk will focus on a strategy for far-field obstacle avoidance but in the nearer term part of the far-field. CLICK A strategy to reduce liability and avoid obstacles in a predictable way is defined by the COLREGS. The COLREGS are internationally accepted rules for collision avoidance at sea. CLICK * Mnay more UAVs than USVs – but recently with Darpa Grand Challenge ground vehicles have received more attention - however, still USVs, probably due to many reasons including complexity of operating environment. Why would we be concerned with improving the state of USV technology? What purpose would