Professional Documents
Culture Documents
Tracking, Motion Generation and Active Sensing of Nonholonomic Wheeled Mobile Robots
Tracking, Motion Generation and Active Sensing of Nonholonomic Wheeled Mobile Robots
Content
Holonomic and nonholonomic robots
Basic methods for tracking tasks
Motion generation
Active sensing
What Distinguishes a
Nonholonomic System From a
Holonomic System?
Goal
II. Trajectory tracking
Start
■ Other uncertaintiesLyudmila
(in the Mihaylova, Katholieke Universiteit Leuven, Division PMA
model, sensor data, etc.)
Active Sensing
The main question to answer:”Where to move
next?”
Given a current knowledge about the robot state and
the environment, how to select the next sensing action
or sequence of actions. A vehicle is moving
autonomously through an environment gathering
information from sensors. The sensor data are used to
generate the robot actions.
Beginning from a starting configuration (xs,ys,φs) to a
goal configuration (xg,yg,φg) in the presence of a
reference trajectory and without it; With and without
obstacles; Taking into account the constraints on the
Lyudmila Mihaylova, Katholieke Universiteit Leuven, Division PMA
velocity, steering angle, the obstacles, and other
Active Sensing of a WMR
Robot model
y
y xk +1 xk + vk ∆T cos(φk + ψ k ) η x ,k
yB Beacon
ψk yk +1 = yk + vk ∆T sin(φk + ψ k ) + η y ,k
φ vk ∆T η
L k +1 φk + sinψ k φ ,k
yk φk L
Measurement model
xB xk x ( x − x )2 + ( y − y )2
rk B k B k ξ r ,k
= y B − yk +
θ k a tan ξ
−ψ k θ ,k
x B − xk
Lyudmila Mihaylova, Katholieke Universiteit Leuven, Division PMA
Highly nonlinear models !
Trajectory optimization
■ Between two points there are an infinite number of
possible trajectories. But not each trajectory from the
configuration space represents a feasible trajectory for
the robot.
■ How to move in the best way according to a criterion
from the starting to a goal configuration?
■ The key idea is to use some parameterized family of
possible trajectories and thus to reduce the infinite-
dimensional problem to a finitely parametrized
optimization problem. To characterize the robot motion
and to process the sensor information in efficient way,
an appropriate criterion is need. So, active sensing is a
decision making, global optimization problem sub- ject
to constraints. Lyudmila Mihaylova, Katholieke Universiteit Leuven, Division PMA
Trajectory Optimization
■ Let Q is a class of smooth functions. The problem of
determining the ‘best’ trajectory q with respect to a
criterion J can be then formulated as
q = argmin(J)
where the optimization criterion is chosen of the form
J = min{ c1I + c2C}
Ai ,k
information part losses (time, traveled
distance)
subject to constraints
l y ,k ≤ l y ,max , vk ≤ vmax , ψ k ≤ ψ max , d o,k ≥ d o,min ,
I = trace(WP), or averaged I = 1 kb
∑ trace(WPk )
k a − kb k = k a
I is computed at the goal configuration or on the
the whole trajectory (part of it, e.g. in an[kinterval a , kb ]
)
where W = MN; {
N = diag σ x− 2 , σ −y 2 ,σ φ− 2 }
M: scaling matrix; N: normalizing matrix:
P: estimation error covariance matrix (information
Lyudmila Mihaylova, Katholieke Universiteit Leuven, Division PMA
matrix or entropy) from a filter (EKF);
Trajectory (N=2 sinusoids)
19
B eaco n
18
N=1
y p o s it io n , [ m ]
N=2
17
16
N=0
15
14
0 2 4 6 8 10 12
x p o s it io n , [ m ]
18 N=3
y p o s it io n , [ m ]
17
16
N=0
15
14
0 2 4 6 8 10 12
x p o s it io n , [ m ]
18 N=5
y p o s it io n , [ m ]
17
16
N=0
15
14
0 2 4 6 8 10 12
t im e , [ s e c ]
N=0
4
tra c e (W P )
2 N=3
N=2 N=1
1
N=5
0
20 40 60 80 100
t im e Katholieke
Lyudmila Mihaylova, , [ s e c ] Universiteit Leuven, Division PMA
Criterion value at the goal
configuration
J = min{ c1I + c2C}
Ai ,k
I = trace(WP), C = t fin / tr , fin
N 0 1 2 3 5
I 3.00 2.88 2.76 2.42 2.10
C 1 1.14 1.15 1.20 1.21
J 3.1 2.99 2.88 2.54 2.29
c1 = 1, c2 = 0.1
Conclusion:
the bigger N it is, better the accuracy is, but theKatholieke
Lyudmila Mihaylova, computational complexity
Universiteit also increases
Leuven, Division PMA !
Results with two beacons
19
B e a c o n 1
18
N=3 N=5
17
N=2
y p o s it io n , [ m ]
16
N=0
15
14
13
12
B e a c o n 2
11
0 2 4 6 8 10 12
x p o s it
Lyudmila Mihaylova, io n , [ m
Katholieke ]
Universiteit Leuven, Division PMA
With an obstacle
19
B eaco n
18
N=3
y p o s it io n , [ m ]
O b sta cle
17
16
N=0
15
14
0 2 4 6 8 10 12
x p o s it io n , [ m ]
18
N=3
y p o s it io n , [ m ]
N=5
17
N=2
16
N=0
15
14
0 2 4 6 8 10 12
x p o s it io n , [ m ]
N=0
4
tra c e (W P )
2
N=2
N=3
1
N=5
0
20 40 60 80 100
t im e , [ s e c ]
N=5
y p o s it io n , [ m ]
17 N=2
16
N=0
15
14
0 2 4 6 8 10 12
x p o s it io n , [ m ]
N=0
4
tra c e (W P )
3
N=2
2
N=3
1
N=5
0
20 40 60 80 100
t im e , [ s e c ]
20 G oal
N=3
19
y p o s it io n , [ m ]
18
17
B eaco n
16 S ta rt
15
O b sta c le
14
13
12
0 2 4 6 8 10 12
x p o s it io n , [ m ]