darpa mars ipr, sept 23-24, 2003 autonomous helicopter mapping andrew ng, mark diel, eric berger,...
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DARPA MARS IPR, Sept 23-24, 2003
Autonomous Helicopter Mapping
Andrew Ng, Mark Diel,
Eric Berger, Adam Coates, Varun Ganapathi,
Eric Liang, Dirk Hähnel, Rahul Biswas, Sebastian Thrun
Stanford University
Contact: [email protected], [email protected]
DARPA MARS IPR, Sept 23-24, 2003
The Stanford Autonomous Helicopter
6-Month Goals:• Flight near obstacles, caves• Maintenance-free hardware
Payload: 14 poundsWeight: 32 pounds
DARPA MARS IPR, Sept 23-24, 2003
The Stanford Autonomous Helicopter
802.11b
GPS
SICK lite (3.7 pounds)Intel Stayton
PC 104
Magnetometer
IMU
6-Month Goals:• Flight near obstacles, caves• Maintenance-free hardware
Payload: 14 poundsWeight: 32 pounds
DARPA MARS IPR, Sept 23-24, 2003
Classical Approach: -Synthesis Control
DARPA MARS IPR, Sept 23-24, 2003
Our Approach: Reinforcement Learning
DARPA MARS IPR, Sept 23-24, 2003
Our Approach: Reinforcement Learning
10 minutes of reinforcement learning
controlsEKFstate
IMU, GPS controllermodel
3.5 minutes of flight data
Machine Learning Approach
1,000 hours of hand-tuning
controlscontrollerEKFstate
IMU, GPS
Classical Approach
DARPA MARS IPR, Sept 23-24, 2003
Four-legged walking
Same learning algorithm used to control complex, very high dimensional (36D), underactuated robots. [with Lawrence and Tal]
DARPA MARS IPR, Sept 23-24, 2003
Mapping (Autonomous Flight)
DARPA MARS IPR, Sept 23-24, 2003
Mapping (Autonomous Flight)
DARPA MARS IPR, Sept 23-24, 2003
Results (Map)
Map
Red = wallWhite = RoadGreen = VegetationYellow = Obstacle
Raw data
WARNING: These are VRML files – you will have to edit the path to those files!
DARPA MARS IPR, Sept 23-24, 2003
Conclusions
• Autonomous flight in 11 days.
• Integrated flight and mapping.
• Next steps:- Robust flight in confined spaces.- Coordinated ground/air mapping and navigation.