无人系统任务规划与执行

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Typical USV Technology
Autonomous Flight Systems Laboratory Aeronautics & Astronautics

In the past primarily used as radio controlled target training devices Typically personal watercraft size or smaller Expensive Lack comprehensive mission management and obstacle avoidance
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Problem Statement
Autonomous Flight Systems Laboratory Aeronautics & Astronautics
•USVs are not as technically mature as UAVs •Current technology requires constant decision making by operators
University of Washiຫໍສະໝຸດ Baidugton 4
Why USVs?
Autonomous Flight Systems Laboratory Aeronautics & Astronautics
•Unmanned technology is well-suited for Dull, Dirty, and Dangerous jobs •Potential benefits to Intelligence Surveillance and Reconnaissance (ISR) missions Interdiction, IED identification, Surveying, Research, Search and Rescue, Commercial Fishing, etc… •Attacks on USS Cole (2000), oil tanker Limburg (2002), Phillipine Superferry 14 (2004) and Khor Al Amaya oil terminal(2004) •Recent ONR briefing identified the following benefits
•Commit to a trajectory
•Continually plan next path •Commit to the beginning of the best path at the start (spawn) point
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Outline
Autonomous Flight Systems Laboratory
Aeronautics & Astronautics
Mission Planning and Execution for Unmanned Surface Vehicles in Compliance with the Marine Rules of the Road A Master’s Thesis by Jim Colito
Autonomous Flight Systems Laboratory Aeronautics & Astronautics

Problem statement Motivation for USV technology development Current USV technology Short description of path planner Marine Rules of the Road – description and implementation Results
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Platform
Autonomous Flight Systems Laboratory Aeronautics & Astronautics
•SEAFOX Platform Durable Easy to transport Quick set-up Relatively cheap
Autonomous Flight Systems Laboratory Aeronautics & Astronautics
The path planner uses an evolutionary process to plan paths. The steps in the evolution are: 1.) Evaluates Fitness of paths 2.) Selects the best paths 3.) Produce offspring from the best paths to be mutated and evaluated DYNAMIC REPLANNING
OWL ROBOSKI
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USV Technology Continued
Autonomous Flight Systems Laboratory Aeronautics & Astronautics
PROTECTOR SPARTAN SCOUT
SSC - SAN DIEGO
•Minimize risk to personnel in high-risk littoral missions
•Low cost •Not power limited •Not limited by human factors •Ability to communicate with UUVs and UAVs •Why AFSL???
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COLREGS Interpretation
Autonomous Flight Systems Laboratory Aeronautics & Astronautics
Rule 7a (risk of collision) – Every vessel shall use all available means appropriate to the prevailing circumstances and conditions to determine if risk of collision exists. If there is any doubt such risk shall be deemed to exist.
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Rules of The Road Overview
Autonomous Flight Systems Laboratory Aeronautics & Astronautics
Using the Marine Rules of the Road as defined by the COLREGS increases safety and should reduce liability. Most rules defined by COLREGS relate to lighting, signals, definitions, etc… Rules that define Head-On, Crossing, and Overtaking Collisions are important. Other Rules that need to be considered are • Identifying a collision • When to take action to avoid collision • Right-of-way → assume our vehicle cedes right-of-way!
•A primary technical challenge is obstacle avoidance in a diverse, highly dynamic environment
•Two regimes of obstacle avoidance: near-field (<200-300 yards) and farfield •Include “Marine Rules of the Road” in path planning system to reduce liability and address an aspect of far-field obstacle avoidance behavior.
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Outline
Autonomous Flight Systems Laboratory Aeronautics & Astronautics

Problem statement Motivation for USV technology development Current USV technology Short description of path planner Marine Rules of the Road – description and implementation Results
AERB 117 (206) 543-7748 http://www.aa.washington.edu/research/afsl
Outline
Autonomous Flight Systems Laboratory Aeronautics & Astronautics

Problem statement Motivation for USV technology development Current USV technology Short description of path planner Marine Rules of the Road – description and implementation Results
•Primarily human environment is highly unpredictable → USV must be flexible and agile
•Need to prevent injury and loss of property from USV introduction into waterways
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Overall Mission Scenario
Autonomous Flight Systems Laboratory Aeronautics & Astronautics
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Path Generation
University of Washington
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Outline
Autonomous Flight Systems Laboratory Aeronautics & Astronautics

Problem statement Motivation for USV technology development Current USV technology Short description of path planner Marine Rules of the Road – description and implementation Results
Autonomous Flight Systems Laboratory
Aeronautics & Astronautics
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