无人机自主飞行系统实验室.ppt

* University of Washington Autonomous Flight Systems Laboratory Aeronautics Astronautics Autonomous Flight Systems Laboratory All slides and material copyright of University of Washington Autonomous Flight Systems Laboratory Research and Development at the Autonomous Flight Systems LaboratoryUniversity of WashingtonSeattle, WA Guggenheim 109, AERB 214(206) 543-7748/research/afsl University of Washington * Real Time Strategic Mission Planning Base Transition Obstacle/Threat Avoidance Searching/Target ID Coordination w/ surface vehicles Pattern hold/Team assembly University of Washington * System Overview Previously funded by DARPA AFOSR University of Washington * System Block Diagram Solving optimal control problems in real-time University of Washington * Stochastic Problem Formulation Predicted probability of survival of each vehicle at time tq+1 Predicted probability that a task is not completed at time tq+1 Team utility function University of Washington * Distributed Architecture for Coordination of Autonomous Vehicles Each vehicle plans its own path and makes task trading decisions to maximize the team utility function There is one active coordinator agent at a time efficiency failure detection local/global information exchanges Computational requirement for running coordinator agent is small compared to planning Coordinator role can be transferred to another vehicle via a voting procedure University of Washington * Evolution-based Cooperative Planning System (ECoPS) Uses Evolutionary Computation-based techniques in the optimization of trading decision making and path planning Task planner uses price and shared information in addition to predicted states of the world for making trading decisions Task planner interacts with path planner and state predictor to simultaneously search feasible near-optimal task and path plans. We call this system the “Evolution-Based Collaborative Planning System” – ECoPS, combining market based techniques wi