Available theses (March 2016) Unmanned Autonomous Vehicles

Transcription

1 Available theses (March 2016) Unmanned Autonomous Vehicles

2 UAV group 2 Luca Bascetta luca.bascetta@polimi.it Gianni Ferretti gianni.ferretti@polimi.it Giambattista Gruosso giambattista.gruosso@ polimi.it Matteo Matteucci matteo.matteucci@polimi.it Marco Baur, Basak Sakcak, Vadym Stasiuk, Gianluca Bardaro (PhD students) possible collaborations with other colleagues (e.g., from MECC department)

3 MSc Theses at Politecnico di Milano 3 Tesi con controrelatore Tesi senza controrelatore Expected effort 6 months full time 3 4 months full time Reviewer required yes no Maximum increment for the final grade 7/110 4/110

4 Theses topics 4 Planning techniques for UAVs UAV modelling and control Mobile manipulation Manipulation

5 Planning techniques for UAVs 5 Planning with kino-dynamic constraints Multi-agent planning Planning with rules Planning with visibility constraints

6 Introducing kino-dynamic constraints in random sampling planners 6 Planning techniques for UAVs path/trajectory planning is the first task to be accomplished to set up an autonomous vehicle to create feasible and safe paths we must consider vehicle dynamic and kinematic characteristics we aim at developing a random sampling planner that takes into account vehicle kino-dynamic constraints application to ground (off-road and road) and aerial vehicles

7 Introducing kino-dynamic constraints in search based planners 7 Planning techniques for UAVs path/trajectory planning is the first task to be accomplished to set up an autonomous vehicle to create feasible and safe paths we must consider vehicle dynamic and kinematic characteristics we aim at developing a search based planner that takes into account vehicle kino-dynamic constraints application to ground (off-road and road) and aerial vehicles

8 Multi-agent random sampling planners 8 Planning techniques for UAVs we would like to consider different vehicles, each one characterized by different abilities or a single vehicle whose behavior can change during the execution of the task we aim at developing a random sampling planner that takes into account and exploits the ability of each vehicle and/or the variability of its behavior application to ground (off-road and road) and aerial vehicles

9 Introducing rules in multi-agent random sampling planners 9 Planning techniques for UAVs we would like to consider set of similar or different vehicles we aim at developing a random sampling planner for a multi-agent scenario that takes into account interaction rules (e.g., to give way to vehicles coming from the right) application to ground (off-road and road) and aerial vehicles

10 Optimized visibility in random sampling planners 10 Planning techniques for UAVs moving from a start position to a goal region within the feature rich areas or keeping a target feature always in field of view of the vision sensor we aim to design a random sampling planner that takes into account the visibility concern of the vision sensor application to ground (off-road and road) and aerial vehicles

11 Comparing different path planning techniques for autonomous vehicles 11 Planning techniques for UAVs there are at least three different path planning techniques: random sampling, search based, and model based planners we want to define benchmark environments for outdoor autonomous vehicles to compare the different techniques and compare at least two of them in different environments application to ground (off-road and road) and aerial vehicles eminently necessary since, by definition, a robot accomplishes tasks by moving in the real world. J.-C. Latombe (1991)

12 UAV modelling and control 12 Off-road autonomous navigation Urban autonomous navigation Indoor autonomous navigation and human/machine shared control

13 Control of autonomous vehicles for off-road applications using torque vectoring 13 UAV modelling and control developing a control system for unmanned autonomous vehicles based on Model Predictive Control (MPC) exploiting the torque vectoring strategy in order to improve the performance in off-road complex environments application to an all-wheel drive vehicle

14 MPC-LFT control of autonomous vehicles for off-road applications 14 UAV modelling and control the aim is the analysis and implementation of Model Predictive Control (MPC) techniques for unmanned autonomous vehicles the vehicle must follow a pre-planned path avoiding moving obstacles, and considering kino-dynamic constraints (e.g., roll-over, side slip, etc.) an innovative MPC technique, based on the reformulation of the dynamic model of the vehicle in the LFT form, will be evaluated, with the aim of guaranteeing high computational efficiency application to a Yamaha Grizzly ATV

15 A trajectory tracking controller to handle aggressive maneuvers 15 UAV modelling and control When moving to off-road conditions [or to low grip terrains] the minimum time maneuver is characterized by aggressive, high-drift, even counter-steering maneuvers [Tavernini, Velenis et Al Minimum time cornering: the effect of road surface and car transmission layout, Vehicle System Dynamics (2013)] Control techniques to be assessed: sliding mode control, MPC, LTV The developed algorithm will be tested on an electric RC vehicle

16 Manipulation and mobile manipulation 16 Developing planning and control strategies for object grasping and manipulation with multiple robotic arms Developing planning and control strategies for mobile manipulation

17 Multi-arm autonomous and shared-control manipulation 17 Manipulation and Mobile manipulation object manipulation is an important skill in many different applications (agriculture, hazardous material handling, small part assembly) we can consider different situations that depend on the specific application, e.g., static/mobile, single/multi arm, autonomous/shared control manipulation we aim at developing planning and control strategies for object manipulation with robotic arms

18 Navigation of a small mobile manipulator in off-road terrains developing a control system for autonomous and semiautonomous navigation of a small robot on rough sloping terrains autonomous navigation and obstacle avoidance exploiting the arm to increase the stability of the system ensure the system integrity (obstacle avoidance and stability) during arm teleoperation application to a small mobile robot for agricultural applications 18 Manipulation and Mobile manipulation

19 Visual servoing control for mobile manipulation in off-road terrains 19 Manipulation and Mobile manipulation developing a control system to execute manipulation and monitoring tasks with a mobile manipulator manipulation task: grasping little tubes and tie them to a vine branch monitoring task: collect video images of leaves, branches, soil visual based arm control is used, but all the robot d.o.f. should be exploited to maximize dexterity obstacle avoidance and platform stability have to be ensured application to a small mobile robot for agricultural applications

20 Next best view planning 20 Manipulation and Mobile manipulation planning the view-point of the vision sensor to obtain better measurements from the scene Next Best View is selected among the possible viewpoints such that it provides more information about the scene in quantity and quality goal is to design such a framework and define the quality of the information gain with respect to the task application to scene exploration, active object recognition

21 Forthcoming projects 21 Indoor mobile manipulation Urban autonomous navigation

22 Coordination of a fleet of mobile manipulators for indoor industrial activities 22 Forthcoming projects A fleet of mobile manipulators can collaborate to handle, manipulate and transport big semifinished in an industrial process The fleet should be able to autonomously navigate the industrial environment moving semifinished and avoiding obstacles adopting a force/impedance control strategy in order to control the strain on fragile materials and tacking into account safety and comfort issues related to the coexistence between robots and human operators

23 Autonomous shuttle service for elderly transportation 24 Forthcoming projects Developing an electric, autonomous and shared car can increase the quality of life and active participation in society of elder people The design and realization of an autonomous urban car entails many different tasks This work is related to the development of a multi-body dynamic model of the vehicle and a MPC trajectory controller that takes into account passenger comfort, energy management, obstacle avoidance and safety Application to a Tazzari Zero