robotics & sensor fusion for mechatronics autonomous vehicle navigation an obstacle avoidance...
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Robotics & Sensor Fusion for Mechatronics From CAD to ImageTRANSCRIPT
![Page 1: Robotics & Sensor Fusion for Mechatronics Autonomous vehicle navigation An Obstacle Avoidance Exercise Luca Baglivo, Mariolino De Cecco](https://reader035.vdocuments.site/reader035/viewer/2022062412/5a4d1b167f8b9ab05999199d/html5/thumbnails/1.jpg)
Robotics & Sensor Fusion for Mechatronics
Autonomous vehicle navigation
An Obstacle Avoidance Exercise
Luca Baglivo, Mariolino De Cecco
![Page 2: Robotics & Sensor Fusion for Mechatronics Autonomous vehicle navigation An Obstacle Avoidance Exercise Luca Baglivo, Mariolino De Cecco](https://reader035.vdocuments.site/reader035/viewer/2022062412/5a4d1b167f8b9ab05999199d/html5/thumbnails/2.jpg)
Robotics & Sensor Fusion for Mechatronics
We’re using two-dimensional grids: maps represented as images!
![Page 3: Robotics & Sensor Fusion for Mechatronics Autonomous vehicle navigation An Obstacle Avoidance Exercise Luca Baglivo, Mariolino De Cecco](https://reader035.vdocuments.site/reader035/viewer/2022062412/5a4d1b167f8b9ab05999199d/html5/thumbnails/3.jpg)
Robotics & Sensor Fusion for Mechatronics
From CAD to Image
![Page 4: Robotics & Sensor Fusion for Mechatronics Autonomous vehicle navigation An Obstacle Avoidance Exercise Luca Baglivo, Mariolino De Cecco](https://reader035.vdocuments.site/reader035/viewer/2022062412/5a4d1b167f8b9ab05999199d/html5/thumbnails/4.jpg)
Robotics & Sensor Fusion for Mechatronics
ATTRACTIVE POTENTIAL REPULSIVE POTENTIAL+
IMAGINE ROBOT AS A BALL ROLLING DOWN HILLS
![Page 5: Robotics & Sensor Fusion for Mechatronics Autonomous vehicle navigation An Obstacle Avoidance Exercise Luca Baglivo, Mariolino De Cecco](https://reader035.vdocuments.site/reader035/viewer/2022062412/5a4d1b167f8b9ab05999199d/html5/thumbnails/5.jpg)
Robotics & Sensor Fusion for Mechatronics
TOTAL POTENTIAL
![Page 6: Robotics & Sensor Fusion for Mechatronics Autonomous vehicle navigation An Obstacle Avoidance Exercise Luca Baglivo, Mariolino De Cecco](https://reader035.vdocuments.site/reader035/viewer/2022062412/5a4d1b167f8b9ab05999199d/html5/thumbnails/6.jpg)
Robotics & Sensor Fusion for Mechatronics
THE RESULTING FORCE IS THE GRADIENT AND GIVES DIRECTION TO THE ROBOT
This example is in the Matlab script “OstacoliQuadrati.m”
![Page 7: Robotics & Sensor Fusion for Mechatronics Autonomous vehicle navigation An Obstacle Avoidance Exercise Luca Baglivo, Mariolino De Cecco](https://reader035.vdocuments.site/reader035/viewer/2022062412/5a4d1b167f8b9ab05999199d/html5/thumbnails/7.jpg)
Robotics & Sensor Fusion for Mechatronics
POTENTIAL FIELDS METHOD FEATURES:
• AUTOMATIC PATH PLANNING FOR OBSTACLE AVOIDANCE
• IS BOTH A PLANNING & CONTROL STRATEGY ALL-IN-ONE
• BEST FOR LOCAL PATH PLANNING->UNEXPECTED OBSTACLES
• BE AWARE FROM LOCAL MINIMA! HARMONIC POTENTIAL
FUNCTIONS HAS PROVEN ONLY GLOBAL MINIMA
• NOT SUITABLE FOR HIGH PRECISION POSITIONING ON TARGET
![Page 8: Robotics & Sensor Fusion for Mechatronics Autonomous vehicle navigation An Obstacle Avoidance Exercise Luca Baglivo, Mariolino De Cecco](https://reader035.vdocuments.site/reader035/viewer/2022062412/5a4d1b167f8b9ab05999199d/html5/thumbnails/8.jpg)
Robotics & Sensor Fusion for Mechatronics
A FORMULATION
![Page 9: Robotics & Sensor Fusion for Mechatronics Autonomous vehicle navigation An Obstacle Avoidance Exercise Luca Baglivo, Mariolino De Cecco](https://reader035.vdocuments.site/reader035/viewer/2022062412/5a4d1b167f8b9ab05999199d/html5/thumbnails/9.jpg)
Robotics & Sensor Fusion for Mechatronics
A FORMULATION
![Page 10: Robotics & Sensor Fusion for Mechatronics Autonomous vehicle navigation An Obstacle Avoidance Exercise Luca Baglivo, Mariolino De Cecco](https://reader035.vdocuments.site/reader035/viewer/2022062412/5a4d1b167f8b9ab05999199d/html5/thumbnails/10.jpg)
Robotics & Sensor Fusion for Mechatronics
A FORMULATION
![Page 11: Robotics & Sensor Fusion for Mechatronics Autonomous vehicle navigation An Obstacle Avoidance Exercise Luca Baglivo, Mariolino De Cecco](https://reader035.vdocuments.site/reader035/viewer/2022062412/5a4d1b167f8b9ab05999199d/html5/thumbnails/11.jpg)
Robotics & Sensor Fusion for Mechatronics
A FORMULATION
![Page 12: Robotics & Sensor Fusion for Mechatronics Autonomous vehicle navigation An Obstacle Avoidance Exercise Luca Baglivo, Mariolino De Cecco](https://reader035.vdocuments.site/reader035/viewer/2022062412/5a4d1b167f8b9ab05999199d/html5/thumbnails/12.jpg)
Robotics & Sensor Fusion for Mechatronics
A FORMULATION
![Page 13: Robotics & Sensor Fusion for Mechatronics Autonomous vehicle navigation An Obstacle Avoidance Exercise Luca Baglivo, Mariolino De Cecco](https://reader035.vdocuments.site/reader035/viewer/2022062412/5a4d1b167f8b9ab05999199d/html5/thumbnails/13.jpg)
Robotics & Sensor Fusion for Mechatronics
ANOTHER, NAIVE FORMULATION
A VIRTUAL CORIDOR ALIGNMENT FOR LINE FOLLOWING
• The attractive potential can be defined punctually as desired.
• Build a vector field that point towards desired path.
![Page 14: Robotics & Sensor Fusion for Mechatronics Autonomous vehicle navigation An Obstacle Avoidance Exercise Luca Baglivo, Mariolino De Cecco](https://reader035.vdocuments.site/reader035/viewer/2022062412/5a4d1b167f8b9ab05999199d/html5/thumbnails/14.jpg)
Robotics & Sensor Fusion for Mechatronics
ANOTHER, NAIVE FORMULATION
A VIRTUAL CORRIDOR ALIGNMENT FOR LINE FOLLOWING
• How to define it
Lc
xF
yF
K yangles (+)
alphaK
![Page 15: Robotics & Sensor Fusion for Mechatronics Autonomous vehicle navigation An Obstacle Avoidance Exercise Luca Baglivo, Mariolino De Cecco](https://reader035.vdocuments.site/reader035/viewer/2022062412/5a4d1b167f8b9ab05999199d/html5/thumbnails/15.jpg)
Robotics & Sensor Fusion for Mechatronics
ANOTHER, NAIVE FORMULATION
A VIRTUAL CORIDOR ALIGNMENT FOR LINE FOLLOWING
• How to compute steering angle input
K y
alphaK delta
steering axis
![Page 16: Robotics & Sensor Fusion for Mechatronics Autonomous vehicle navigation An Obstacle Avoidance Exercise Luca Baglivo, Mariolino De Cecco](https://reader035.vdocuments.site/reader035/viewer/2022062412/5a4d1b167f8b9ab05999199d/html5/thumbnails/16.jpg)
Robotics & Sensor Fusion for Mechatronics
ANOTHER, NAIVE FORMULATION
A VIRTUAL CORIDOR ALIGNMENT FOR LINE FOLLOWING
• Now add the repulsive force vector Frep, and play …
K y
Frep Ftot
delta’
![Page 17: Robotics & Sensor Fusion for Mechatronics Autonomous vehicle navigation An Obstacle Avoidance Exercise Luca Baglivo, Mariolino De Cecco](https://reader035.vdocuments.site/reader035/viewer/2022062412/5a4d1b167f8b9ab05999199d/html5/thumbnails/17.jpg)
Robotics & Sensor Fusion for Mechatronics
OBJECT PICKING
A possible application for forklifts
![Page 18: Robotics & Sensor Fusion for Mechatronics Autonomous vehicle navigation An Obstacle Avoidance Exercise Luca Baglivo, Mariolino De Cecco](https://reader035.vdocuments.site/reader035/viewer/2022062412/5a4d1b167f8b9ab05999199d/html5/thumbnails/18.jpg)
Robotics & Sensor Fusion for Mechatronics
ANOTHER, NAIVE FORMULATION
A VIRTUAL CORIDOR ALIGNMENT FOR LINE FOLLOWING
• Try with:
• Tricycle robot forward velocity, point obstacle at (xF,yF) = (4,1.5)
yR
b
D1
![Page 19: Robotics & Sensor Fusion for Mechatronics Autonomous vehicle navigation An Obstacle Avoidance Exercise Luca Baglivo, Mariolino De Cecco](https://reader035.vdocuments.site/reader035/viewer/2022062412/5a4d1b167f8b9ab05999199d/html5/thumbnails/19.jpg)
Robotics & Sensor Fusion for Mechatronics
ANOTHER, NAIVE FORMULATION
A VIRTUAL CORIDOR ALIGNMENT FOR LINE FOLLOWING
• A control sketch
Robot kinematic
model
Steer control
velocity
steer angle
Potential field gradient vector
y
+ -alphaK
delta
kcontrol
![Page 20: Robotics & Sensor Fusion for Mechatronics Autonomous vehicle navigation An Obstacle Avoidance Exercise Luca Baglivo, Mariolino De Cecco](https://reader035.vdocuments.site/reader035/viewer/2022062412/5a4d1b167f8b9ab05999199d/html5/thumbnails/20.jpg)
Robotics & Sensor Fusion for Mechatronics
Bibliography
1. Siegwart R., Nourbakhsh I, Scaramuzza D., Introduction to Autonomous Mobile Robots