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Published byCharla Cross Modified over 9 years ago
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Autonomous Vehicles: Boundary Tracking and Control Laws By Jackie Brosamer June 19, 2008
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Boundary Tracking Goal given a density field, we want the vehicle to find the boundary (where d(k) = B) and track along it Basic algorithm rotate one way when inside the boundary and the opposite way when outside boundary
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Problem: Large initial crossing angle
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Solution: We modify our algorithm based on the time it takes to cross the boundary t and a predetermined reference angle
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CUSUM filter But this modification relies on accurate record of the boundary crossing times, so we need to find a way to deal eliminate noise in our data We implement a cumulative sum algorithm to create a “high side” filter and a “low side” filter to increase accuracy
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Multiple vehicle boundary estimation We assume the approximate boundary is a Markov model based on the state of the system s(k)
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Optimization We then assume the boundary can be represented by an ellipse and formulate boundary estimation as an optimization problem
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Steering Control Laws Steer by altering the curvature of the vehicle’s path
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Coupling Control Laws Local coupling allows vehicles to follow other vehicles within their field of vision Also, stronger coupling between a designated leader and followers
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Homotopy parameter Governs between global control law and local control law
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Target Seeking Separate control law, does not guarantee swarming
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Barrier Avoidance Average barrier direction given by: We add the following term to steering control law :
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