+ All Categories
Home > Documents > Collaboration Between Unmanned Aerial and Ground...

Collaboration Between Unmanned Aerial and Ground...

Date post: 19-Aug-2020
Category:
Upload: others
View: 0 times
Download: 0 times
Share this document with a friend
22
Collaboration Between Unmanned Aerial and Ground Vehicles Dr. Daisy Tang
Transcript
Page 1: Collaboration Between Unmanned Aerial and Ground Vehiclesftang/courses/CS599-DI/notes/UAV-UGV.pdfMicrosoft PowerPoint - UAV-UGV.ppt [Compatibility Mode] Author: daisytff Created Date:

Collaboration Between Unmanned Aerial and Ground Vehicles

Dr. Daisy Tang

Page 2: Collaboration Between Unmanned Aerial and Ground Vehiclesftang/courses/CS599-DI/notes/UAV-UGV.pdfMicrosoft PowerPoint - UAV-UGV.ppt [Compatibility Mode] Author: daisytff Created Date:

Key Components

� Autonomous control of individual agent

� Collaborative system

� Mission planning

� Task allocation

� Communication

� Data fusion

� Operator control unit (OCU)

� Situation awareness

� Sliding autonomy

Page 3: Collaboration Between Unmanned Aerial and Ground Vehiclesftang/courses/CS599-DI/notes/UAV-UGV.pdfMicrosoft PowerPoint - UAV-UGV.ppt [Compatibility Mode] Author: daisytff Created Date:

Paper Presentations

� “Deploying air-ground multi-robot teams in urban environments”, by Chaimowicz et al., Multi-Robot Systems, From Swarms to Intelligent Automata, 2005.

� Presented by Nada Alghofaili

� “Integrated long-range UAV/UGV collaborative target tracking”, by Moseley et al., SPIE Unmanned Systems and Technology XI Conference, 2009.

� Presented by Wie Li

Page 4: Collaboration Between Unmanned Aerial and Ground Vehiclesftang/courses/CS599-DI/notes/UAV-UGV.pdfMicrosoft PowerPoint - UAV-UGV.ppt [Compatibility Mode] Author: daisytff Created Date:

Some Videos

� https://www.youtube.com/watch?v=fzAlGxrjg1g&spfreload=10

� https://www.youtube.com/watch?v=RPCUB6xjQTI

� https://www.youtube.com/watch?v=eLcctvwXdDg

Page 5: Collaboration Between Unmanned Aerial and Ground Vehiclesftang/courses/CS599-DI/notes/UAV-UGV.pdfMicrosoft PowerPoint - UAV-UGV.ppt [Compatibility Mode] Author: daisytff Created Date:

Motivation of Collaboration

� Challenges of urban environments

� Buildings pose 3-D constraints on visibility, communication and GPS

� A network of aerial and ground vehicles working in cooperation is more beneficial

� We need to:

� Keep the network tightly integrated for vehicles to support each other

� Provide ways to facilitate human operator to command the whole network

Page 6: Collaboration Between Unmanned Aerial and Ground Vehiclesftang/courses/CS599-DI/notes/UAV-UGV.pdfMicrosoft PowerPoint - UAV-UGV.ppt [Compatibility Mode] Author: daisytff Created Date:

Research Goal

� Establish the overall paradigm, modeling framework and software architecture to enable a minimum number of human operators to manage a heterogeneous robotic team with varying degrees of autonomy

Page 7: Collaboration Between Unmanned Aerial and Ground Vehiclesftang/courses/CS599-DI/notes/UAV-UGV.pdfMicrosoft PowerPoint - UAV-UGV.ppt [Compatibility Mode] Author: daisytff Created Date:

Hardware

� Team: 5 unmanned ground vehicles (UGVs) + 2 fixed wing aircraft and a blimp

Page 8: Collaboration Between Unmanned Aerial and Ground Vehiclesftang/courses/CS599-DI/notes/UAV-UGV.pdfMicrosoft PowerPoint - UAV-UGV.ppt [Compatibility Mode] Author: daisytff Created Date:

UGVs

� 48 cm long and 35 cm high chassis on a scale model truck

� Pentium III laptop

� Odometry, steering servos

� GPS

� IMU

� A forward-looking stereo camera pair

� A small embedded computer with 802.11 wireless Ethernet

� Jbox handles multi-hop routing in an ad-hoc wireless network

Page 9: Collaboration Between Unmanned Aerial and Ground Vehiclesftang/courses/CS599-DI/notes/UAV-UGV.pdfMicrosoft PowerPoint - UAV-UGV.ppt [Compatibility Mode] Author: daisytff Created Date:

UAVs

� Fixed wing aircraft:

� Equipped with Piccolo autopilot

� Provides innerloop attitude and velocity stabilization control

� A high resolution camera

� IMU

� GPS receiver

� Radio modem is used for communication between air vehicles and operator base station

� Blimp:

� 9 meters length, 3kg payload

� GPS, IMU, video camera, onboard computation and communication

Page 10: Collaboration Between Unmanned Aerial and Ground Vehiclesftang/courses/CS599-DI/notes/UAV-UGV.pdfMicrosoft PowerPoint - UAV-UGV.ppt [Compatibility Mode] Author: daisytff Created Date:

Software

� ROCI (Remote Object Control Interface) for UAVs and UGVs

� A high-level OS for programming and managing networks of robots and sensors

� Each robot is a node that contains several processing and sensing modules and may export different types of services and data to other nodes

� Complex tasks can be built by connecting inputs and outputs of specific modules

� The connection is defined in XML

Page 11: Collaboration Between Unmanned Aerial and Ground Vehiclesftang/courses/CS599-DI/notes/UAV-UGV.pdfMicrosoft PowerPoint - UAV-UGV.ppt [Compatibility Mode] Author: daisytff Created Date:

Localization and Navigation

� A Kalman filter is used to estimate robot localization based on

� Wheel encoder odometry, IMU, GPS, robot observations from external vision sensors and landmarks

� Navigation based on a list of waypoints

� Specified manually through a user interface

� Automatically generated

� Create a Voronoi Diagram of the environment and use it as a roadmap for planning intermediate waypoints

� Diagram can be generated beforehand using overhead imagery obtained by air vehicles

� Mission scripts

Page 12: Collaboration Between Unmanned Aerial and Ground Vehiclesftang/courses/CS599-DI/notes/UAV-UGV.pdfMicrosoft PowerPoint - UAV-UGV.ppt [Compatibility Mode] Author: daisytff Created Date:

Trajectory Controller

� A trajectory controller generates linear and angular velocities

� Local obstacle avoidance is done by the two stereo cameras

� Trajectories can be compared to find potential collisions

Page 13: Collaboration Between Unmanned Aerial and Ground Vehiclesftang/courses/CS599-DI/notes/UAV-UGV.pdfMicrosoft PowerPoint - UAV-UGV.ppt [Compatibility Mode] Author: daisytff Created Date:

Situation Awareness

� Main interface: ROCI Browser

� It displays the network hierarchically

� Human operator can browse nodes

� Tasks running on each node

� Modules that make up each task

� Browser’s main job is to give user command and control over the network and ability to retrieve and visualize information from any one distributed node

Page 14: Collaboration Between Unmanned Aerial and Ground Vehiclesftang/courses/CS599-DI/notes/UAV-UGV.pdfMicrosoft PowerPoint - UAV-UGV.ppt [Compatibility Mode] Author: daisytff Created Date:

Mission Scripts

� User can start and stop the execution of tasks in the robots remotely, change task parameters or control

� Elaborated missions are constructed using scripts, which define a sequence of actions that should be performed

� Capturing panoramic images at different waypoints, or navigating through multiple intermediate waypoints before reaching a target site

Page 15: Collaboration Between Unmanned Aerial and Ground Vehiclesftang/courses/CS599-DI/notes/UAV-UGV.pdfMicrosoft PowerPoint - UAV-UGV.ppt [Compatibility Mode] Author: daisytff Created Date:

A Snapshot

Page 16: Collaboration Between Unmanned Aerial and Ground Vehiclesftang/courses/CS599-DI/notes/UAV-UGV.pdfMicrosoft PowerPoint - UAV-UGV.ppt [Compatibility Mode] Author: daisytff Created Date:

Air-Ground Cooperation

� Challenges: cluttered urban environments

� UAVs could help UGVs by providing localization data and acting as communication relays

� Example: localize ground vehicles using a sequence of images taken from the blimp

� Relates the position of the robot in a global coordinate frame with its pixel coordinates in the image

� Use a set of known landmarks in the image

� Rely on measurements from the GPS/IMU onboard the blimp and camera parameters

Page 17: Collaboration Between Unmanned Aerial and Ground Vehiclesftang/courses/CS599-DI/notes/UAV-UGV.pdfMicrosoft PowerPoint - UAV-UGV.ppt [Compatibility Mode] Author: daisytff Created Date:

Comparing Two Methods

� None of these approaches could be applied alone if we need a localization system that is applicable, reliable, and accurate

� Motivation:

� Find more sophisticated methods for cooperative localization

� Fuse information from different sources in a systematic way

Page 18: Collaboration Between Unmanned Aerial and Ground Vehiclesftang/courses/CS599-DI/notes/UAV-UGV.pdfMicrosoft PowerPoint - UAV-UGV.ppt [Compatibility Mode] Author: daisytff Created Date:

The Combined Approach

� Based on prior work on decentralized data fusion (DDF) and decentralized active sensor networks

� A collaborative feature search and localization

� Exploits complementary character of UAV and UGV

� UAV rapidly covers designated search area

� UGVs deploy to refine the feature location

Page 19: Collaboration Between Unmanned Aerial and Ground Vehiclesftang/courses/CS599-DI/notes/UAV-UGV.pdfMicrosoft PowerPoint - UAV-UGV.ppt [Compatibility Mode] Author: daisytff Created Date:

Example

Page 20: Collaboration Between Unmanned Aerial and Ground Vehiclesftang/courses/CS599-DI/notes/UAV-UGV.pdfMicrosoft PowerPoint - UAV-UGV.ppt [Compatibility Mode] Author: daisytff Created Date:

Cooperative Radio-Mapping

� Communication is essential for coordination

� Radio propagation characteristics are difficult to predict

� Transmission power, terrain, 3-D geometry of the environment, interference

� Goal:

� Acquiring information for radio connectivity maps in urban terrains to help plan multi-robot tasks

� Approach:

� Build radio connectivity map, which returns signal strength between any two positions in the environment

Page 21: Collaboration Between Unmanned Aerial and Ground Vehiclesftang/courses/CS599-DI/notes/UAV-UGV.pdfMicrosoft PowerPoint - UAV-UGV.ppt [Compatibility Mode] Author: daisytff Created Date:

Waypoints Navigation

� An overhead surveillance picture is used to generate roadmaps for motion planning and waypoints generation

� Minimize probability of losing connectivity under line-of-sight condition

� Radio signal strength measurements are obtained as team members simultaneously traverse through their respective waypoints

� Broadcast messages @ arrival

� Broadcast messages when ready to go after signal measurement

� Repeated until all waypoints are traversed

� Recovery behaviors: returning to the last position

Page 22: Collaboration Between Unmanned Aerial and Ground Vehiclesftang/courses/CS599-DI/notes/UAV-UGV.pdfMicrosoft PowerPoint - UAV-UGV.ppt [Compatibility Mode] Author: daisytff Created Date:

Preliminary Results


Recommended