Motion Camouage for Unicycle Robots using Optimal Control

I naki Ra n o and Chris Burbridge

inaki.rano@gmail.com Computer Sciences and Systems Engineering Dept University of Zaragoza Spain

TAROS 2010

Ra no & Burbridge Unicycle Motion Camouage

UniZar & ISRC-Ulster

Table of Contents

1 2 3 4 5

Motion Camouage for Unicycle Robots using Optimal Control All together Results

Ra no & Burbridge Unicycle Motion Camouage

UniZar & ISRC-Ulster

Everybody knows what Motion is!!

We see motion on static images. Can we see motion as something static?

Ra no & Burbridge Unicycle Motion Camouage UniZar & ISRC-Ulster

Camouage
A method of crypsis (avoidance of observation) that allows an otherwise visible organism or object to remain indiscernible from the surrounding environment through deception.

Ra no & Burbridge Unicycle Motion Camouage

UniZar & ISRC-Ulster

Motion Camouage? Are You Kidding?

Thats impossible!

Ra no & Burbridge Unicycle Motion Camouage

UniZar & ISRC-Ulster

Motion Camouage
Stealth behaviour of dragonies and hover-ies. Eyes (cameras) only measure angles (rays). The Shadowee sees the Shadower always on the Focal Point. Blooming; the visual size of the Shadower increases. Camouage for attack or retreat.
Ra no & Burbridge Unicycle Motion Camouage UniZar & ISRC-Ulster

Unicycle Robots
Unicycle motion model x = v cos

y = v sin = 3D state space (x , y , ) and two control inputs (v , ). Some robots follow this model; dual-drive, synchro-drive, tricycle, (Ackerman).

Ra no & Burbridge Unicycle Motion Camouage

UniZar & ISRC-Ulster

Why Unicycle Robots?

Existing 2D and 3D Motion Camouage techniques treat the shadower as a point Animals move in 2D/3D but they have a heading (theyre not points) Restriction to motion (2D) dx sin dy cos = 0 animals usually dont move perpendicular to their heading. Unless youre a crab. . .
Ra no & Burbridge Unicycle Motion Camouage UniZar & ISRC-Ulster

Calculus of Variations
Find the function y (t ) that minimises the functional
tf

J [y ] =
ti

g (t , y (t ), y (t ))dt

y (t ) can be obtained solving the Euler-Lagrange equation g d g =0 y dt y with boundary conditions. But we have a system to be controlled x = F (x , u ), where x (t ) n and u (t ) m .

Ra no & Burbridge Unicycle Motion Camouage

UniZar & ISRC-Ulster

Optimal Control
Find the control functions u (t ) that minimise the functional
tf

J [x , u ] = h(x (tf )) +
ti

g (t , x (t ), u (t ))dt

with the dynamic constrain x = F (x , u ) and the appropriate boundary conditions. Constrained Minimisation? This is a job for the Lagrange Multipliers!!
tf

J [x , u ] = h(x (tf )) +
ti

[g (t , x (t ), u (t ))+ (t )(F (x (t ), u (t )) x (t ))] dt

Ra no & Burbridge Unicycle Motion Camouage

UniZar & ISRC-Ulster

Optimal Control Solution

If we dene the Hamiltonian H (x (t ), u (t ), (t )) = g (t , x (t ), u (t )) + (t )t F (x (t ), u (t )) the solution can be obtained from the equations H (x (t ), u (t ), (t )) (t ) = H (x (t ), u (t ), (t )) x H 0 = (x (t ), u (t ), (t )) u x (t ) = as the solution to a Boundary Value Problem.
Ra no & Burbridge Unicycle Motion Camouage UniZar & ISRC-Ulster

All together
Y

x p=(x p, yp) f =(f x, f y) p x t =(x t , yt) CCL X

Dynamic constrains v Control inputs u = x p v cos p Function to minimise y v sin p p p = g (x) = 1 |(x f ) (x f )|2 p t x x vt t 2 y 1 vt y t + uT R u 2
Ra no & Burbridge Unicycle Motion Camouage UniZar & ISRC-Ulster

Results
Focal Point

Trajectory
0.0 1.5

Trajectory
1.0 0.5

Shadower

0.5

1.0

1.5

0.0

CCL

2.0

0.5

2.5

1.0

3.0 0.0

0.5

1.0

1.5

2.0

2.5

3.0

1.5 0.0

0.5

1.0

1.5

2.0

2.5

3.0

18 16 14 12 10

Error
10 9 8 7 6 5

Error

8
4

6 4 2

3 2 1 0 0 20 40 60 80 100 120 140 160 180 200

Shadowee

0 0 20 40 60 80 100

Ra no & Burbridge Unicycle Motion Camouage

UniZar & ISRC-Ulster

Discussion
The good news Motion Camouage can be achieved for non-holonomic motion. . . . . . for any focal point. It is extensible to any shadowee trajectory. . . . . . and velocities seem to stay bounded The bad news Need to know too much information (time, positions, velocity) No certainty on bounded velocities

Ra no & Burbridge Unicycle Motion Camouage

UniZar & ISRC-Ulster

Thanks for your attention

Better to remain silent and be thought a fool than to speak out and remove all doubt
Abraham Lincoln

Ra no & Burbridge Unicycle Motion Camouage

UniZar & ISRC-Ulster