Download Behavior Based Architecture - Study Guide | CS 685 and more Study notes Computer Science in PDF only on Docsity! 3UHYLRXVO\ 5HDFWLYHFRQWURODUFKLWHFWXUH FRPSRVLWLRQRIEHKDYLRUV IHHGEDFNFRQWUROOHUV EDVHGRQGLIIHUHQWSULRULWL]DWLRQVFKHPHV 6XEVXPSWLRQ DUFKLWHFWXUH RQHSDUWLFXODUZD\RI FRPELQLQJWKHP RQHEHKDYLRUFDQVXEVXPHDQRWKHU RQHEHKDYLRUFDQLQKLELWDQRWKHU SDUDOOHOH[HFXWLRQRIDOOEHKDYLRUVIL[HGSULRULW\ &KDUDFWHULVWLFVRIWKH5HDFWLYH&RQWURO$UFKLWHFWXUHV QRQRWLRQRIUHSUHVHQWDWLRQRIWKHHQYLURQPHQW %HKDYLRU%DVHG$UFKLWHFWXUH :HKDGSUHYLRXVO\H[DPSOHVRIEHKDYLRUV )HHGEDFNFRQWUROOHUVWDVNDFKLHYLQJEHKDYLRUV GHVLJQPRWLYDWHGE\SRWHQWLDOILHOGEDVHGWHFKQLTXH +RZWRFRPSRVHGWKHP"6RPHH[DPSOHVRIFRPSRVLWLRQ VXSHUSRVLWLRQ PRWLYDWHGE\SRWHQWLDOILHOGWHFKQLTXHV %HKDYLRUV :KDWDUHEHKDYLRUV %HKDYLRUVDUHIHHGEDFNFRQWUROOHUV %HKDYLRUVDUHH[HFXWHGLQSDUDOOHO $FKLHYHVSHFLILFJRDOV DYRLGREVWDFOHVJRWRJRDO &DQEHFRPELQHGWRDFKLHYHPRUHFRPSOH[QHWZRUNV PDNHLQSXWVRIRQHEHKDYLRURXWSXWVRIDQRWKHU %HKDYLRUVFDQEHGHVLJQHGWRORRNDKHDGEXLOGDQG PDLQWDLQUHSUHVHQWDWLRQRIWKHZRUOG 5HSUHVHQWDWLRQRIEHKDYLRUV )XQFWLRQDOUHSUHVHQWDWLRQU E V URERWVFKHPDV )HHGEDFNFRQWUROOHUVJUDGLHQWRIVRPHSRWHQWLDOIXQFWLRQ /RRNXSWDEOH 6WLPXOXVUHVSRQVHGLDJUDPV 'LVFUHWHDQGRUFRQWLQXRXVUHSUHVHQWDWLRQV GLIIHUHQWLDOHTXDWLRQVRULIWKHQUXOHV! ZDOOIROORZLQJH[DPSOH $WWKHOHYHORILQWHUDFWLRQEHWZHHQEHKDYLRUV $EVWUDFWUHSUHVHQWDWLRQLQWHUPVRI)60·V %HKDYLRU$VVHPEODJHV 3RZHURIDEVWUDFWLRQ 0RGXODULW\ 5HXVHRIHOHPHQWDU\EHKDYLRUV ´UHDVRQµRYHUWKHP &RDUVHUOHYHORIJUDQXODULW\² JRRGIRUDGDSWDWLRQDQGOHDUQLQJ $EVWUDFWLRQ·VLQWHUPVRI)60·V &RPSRVLWLRQRIWKHEHKDYLRUV ([DPSOHV)60IRUQDYLJDWLRQ 3ROHILQGLQJURERW $$$FRPSHWLWLRQ ZDQGHU $YRLG 680 Z Z :DQGHUDQGDYRLGEHKDYLRUDVVHPEODJH :DQGHU IRUWUDVK 0RYHWR WUDVK 'URS WUDVK 0RYHWR WUDVKFDQ /RRN )RU 7UDVKFDQ *UDE WUDVK VWDUW ([DPSOHRIWUDVKFROOHFWLQJURERW² HDFKQRGHLVDQ DVVHPEODJHRIEHKDYLRUV PRUHGHWDLOVRQWKH WUDQVLWLRQV HPSW\ HPSW\ HPSW\ HPSW\ )XOODQG %OXHFDQ %HKDYLRU&RPSRVLWLRQ 3URJUDPPLQJODQJXDJHIRUEHKDYLRUFRPSRVLWLRQ (OHPHQWDU\EHKDYLRUV)60·V &RPSRVLWLRQRSHUDWRUV 6HTXHQWLDO%% &RQGLWLRQDO%% 3DUDOOHO%__% 'LVDEOLQJ%% ,WHUDWLYH%%%% ([DPSOHVRIPRUHFRPSOH[WDVNVDVQHWZRUNVRIHOHPHQWDU\ EHKDYLRUV EHKDYLRUVFDQFRPPXQLFDWHYLDVKDUHGPHPRU\ ([DPSOH&ODVVURRPQDYLJDWLRQ&OHDQ8S)RUDJLQJ (PHUJHQW%HKDYLRUV $SSDUHQWO\QHZEHKDYLRUVFDQ´HPHUJHµIURP ,QWHUDFWLRQVRIUXOHV ,QWHUDFWLRQVRIEHKDYLRUV ,QWHUDFWLRQVZLWKWKHHQYLURQPHQW 6LQFHWKHEHKDYLRULVMXVWLQSXWRXWSXWPDSSLQJH[WHUQDOO\ REVHUYHG 2FFDVLRQDOO\H[SOLFLWO\XQPRGHOHGLQWHUDFWLRQVEHKDYLRUVFDQ EHREVHUYHG 1RWLRQRIHPHUJHQWEHKDYLRU² LQWXLWLYHQRWZHOOGHILQHGH[FHSW IRUVRPHVLPSOHVFHQDULRV :DOOIROORZLQJH[DPSOHIORFNLQJGLVSHUVLQJIRUDJLQJ (PHUJHQWEHKDYLRUV )ORFNLQJH[DPSOH 'RQ·WUXQLQWRDQRWKHUURERW 'RQ·WJHWWRRIDUIURPRWKHUURERWV .HHSPRYLQJ 8QH[SHFWHGYVHPHUJHQW GHSHQGVRQWKHREVHUYHU VXEMHFWLYHQRWLRQ 'XHWRWKHXQPRGHOHGXQFHUWDLQWLHVWKHEHKDYLRUVDUHQRW ([DFWO\UHSHDWDEOHSUHGLFWDEOH (PHUJHQWEHKDYLRUVFDQEHDFKLHYHGIURPSDUDOOHO H[HFXWLRQRIPDQ\EHKDYLRUV )RUWKHSXUSRVHRIDQDO\VLV² XQGHVLUDEOHSKHQRPHQD 'LVWULEXWHG0DS%XLOGLQJ 'LIIHUHQWOD\HUV 0RYHDURXQGVDIHO\ 'HWHFWQHZODQGPDUNV %XLOGDPDSDQGORFDOL]HZLWKLQWKHPDS )LQGDSDWKWRZDUGVDJRDO 5HDOWLPHUHDFWLYHEHKDYLRU² QRFHQWUDOSODFHIRUNHHSLQJ 7KHUHSUHVHQWDWLRQRIWKHHQYLURQPHQW DVRSSRVHGWR GHOLEHUDWLYHDUFKLWHFWXUH %HKDYLRU%DVHG$UFKLWHFWXUH 6XPPDU\ 3URVDQGFRQV 'LVWULEXWHGRSHUDWHDWODUJHUWLPHVFDOHV 0DLQWDLQWKHUHDFWLYLW\ &DQIRUPDQGPDLQWDLQUHSUHVHQWDWLRQV 1RWLRQRIWKHHPHUJHQWEHKDYLRUV VRPHWKLQJZKLFKLVKDUGWRPRGHODQGKDUGWRDQDO\]H FDQEHDFKLHYHGE\VXSHUSRVLWLRQ 'LIILFXOWWRSURYLGHDQ\JXDUDQWHHV %HKDYLRU%DVHGDSSURDFKHGH[SORLWHPHUJHQWEHKDYLRUV LQVRPHLQVWDQFHVWKH\KDYHWREHDYRLGHG 0RUHH[DPSOHVRIV\VWHPV VHHERRN 0XOWLDJHQW$UFKLWHFWXUHV $GYDQWDJHVRIKDYLQJJURXSVRIURERWVDFKLHYLQJVRPHWDVNV H[SORUDWLRQPDQLSXODWLRQGHPLQLQJ VLPSOHUOHVVH[SHQVLYH URERWVFRRSHUDWLRQFDQDFKLHYHPRUHFRPSOH[WDVNV 7D[RQRP\RIWKHFROOHFWLYHV² VL]HFRPPXQLFDWLRQUDQJH FRPPXQLFDWLRQWRSRORJ\UHFRQILJXUDELOLW\ RIWRSRORJ\ RUSK\VLFDO +RPRJHQHRXVRU+HWHURJHQHRXV 3URFHVVLQJDELOLW\² FHQWUDOL]HGGLVWULEXWHG 0RWKHUVKLS DQGWHDPFRQFHSWV ([DPSOH² 0XOWLURERW&ROOLVLRQ$YRLGDQFH 'LVWULEXWHGPXOWLDJHQWPRWLRQSODQQLQJDSSURDFK 3RWHQWLDODQG9RUWH[ILHOGEDVHGPRWLRQSODQQLQJ *HQHUDWLRQRIWKHSURWRW\SHPDQHXYHUV 'SODQDUFRQIOLFWUHVROXWLRQ 'FRQIOLFWUHVROXWLRQ $LUWUDIILF&RQWURO² &ROOLVLRQ$YRLGDQFH
Collision Avoidance - Vector field based approach
“Superposition of participating vector fields
Overtake maneuver
Collision Avoidance - Prototype Maneuvers
Roundabout maneuver