UNMANNED SYSTEMS RESEARCH (AUVSI无人机大会PPT).ppt

1、UNMANNED SYSTEMS RESEARCH Aeronautics & AstronauticsUniversity of Washington,Dr. Juris Vagners Professor Emeritus February 26, 2010 AUVSI Cascade Chapter Meeting Seattle, Washington,PRESENTATION OUTLINE,Faculty Research Labs A brief history Faculty laboratory activity summaries and selected research

2、 projects,Controls & Systems Faculty Research Labs,3,Kristi A. MorgansenAssociate Professor/research/ndcl,Mehran MesbahiAssociate Professor/,Juris VagnersProfessor Emeritus /research/afsl,WIND TUNNEL TESTING, UWALAeros

3、onde, the first UAV across the Atlantic,The launch: St Johns, Newfoundland,North Atlantic Crossing: The route and weather,LAIMA in the Museum of Flight,8,Modeling Estimation Control,Heterogeneous coordinated control with limited communication,Bioinspired system modeling for coordinated control,Integ

4、rated communication and control,Modeling and control of shape-actuated immersed mechanical systems,Nonlinear Dynamics and Control Lab Kristi A. Morgansen,Cognitive dynamics models for human-in-the-loop systems,Coordinated control with communication for UUVs,9,Modeling an

5、d control of fin-actuated underwater vehicles,Tail locomotion and pectoral fin maneuverability,NSF CAREER UW RRF NSF BE (with J. Parrish and D. Grunbaum, UW),Goals,Agile maneuverability Analytical control theoretic models of immersed shape-actuated devices Underwater localization Nonlinear control C

6、oordinated control,Challenges,Small size Coriolis effects Unmodeled or approximated fluid dynamics elements Communication and sensing limitations,10,UW Fin-Actuated UUV - Control,Results extendable to many fluid-body models Rigorous mathematics with simple implementation Experimental stabilization r

7、obust Incorporate vortex dynamics and unsteady effects into model Optimal motion generation Extension to flexible actuators,11,Coordinated Control with Limited Communication,Goals,Control in the presence of communication and sensing constraints Control over networks Deconfliction Schooling/swarming

8、group behavior,Challenges,Managing time delays in local control Definition of attention Allocation of resources Construction of stabilizing controllers Modeling,NSF CAREER AFOSR (with Prof. Tara Javidi, UCSD) AFOSR (with The Insitu Group, Inc.) The Boeing Company,12,Hierarchical Integrated Communica

9、tion and Control,NSF CAREER AFOSR (with Prof. Tara Javidi, UCSD) AFOSR (with The Insitu Group, Inc.),Goals,Coordinated tracking of objects or boundaries Non-separated design of communication and control algorithms Data quantization Cooperative task management Control over networks,Challenges,Managin

10、g time delays in local control Allocation of resources Construction of stabilizing controllers Modeling for both communication and control,13,Bioinspired Coordinated Control,Models of social aggregations Effects of heterogeneity (levels of hunger, familiarity) Relation to engineered systems Applicat

11、ion to fishery management, population modeling,NSF BE (with J. Parrish and D. Grunbaum, UW) Murdock Trust,Goals,Challenges,Tracking of objects Data fusion Model representation,14,Cognitive Dynamics for Human-in-the-Loop,Challenges,Model representation Heterogeneity Information flow Levels of autonom

12、y,Goals,Coordinated control for heterogeneous multivehicle system with human interaction Cognitive models and social psychology Dynamics and control,AFOSR MURI (with J. Baillieul (BU), F. Bullo (UCSB), D. Castanon (BU), J. Cohen (Princeton), P. Holmes (Princeton), N. Leonard (Princeton), D. Prentice

13、 (Prentice), J. Vagners (UW),15,Identification and Influence in Networks,Coordination over randomly evolved networks,Decentralized computation and estimation,Autonomous networks with foreign inputs,Informed design for controllability and security of networks,Distributed Space Systems Lab http:/dssl.

14、 Mehran Mesbahi,Adaptable swarms,Network identification,16,Spacecraft Formation Flying,Distributed Space Systems Lab Mehran Mesbahi,Spacecraft Attitude Control,Formation Initialization of Microsatellites,Space Interferometry Mission,Reorientation in mult

15、iple attitude constraints,17,Decentralized UAV De-confliction,Distributed Space Systems Lab Mehran Mesbahi,Planar Collective UAV Coordination,UAV path planning & Collision Avoidance,Limited communication,Can perform under turn-rate constraints and limit sensing capabilit

16、y,Can guarantee collision free and reach destination,Formation flying,Leader-Followers on Unicycle model UAV,Using navigation function,18,Dynamic Mission Management,General UAV GN&C Work,Path Planning and Collision Avoidance,General USV Work,Autonomous Flight Systems Laboratory http:/www.aa.washingt

17、/research/afsl Juris Vagners,To conduct research that advances technologies relevant to unmanned systems.,Human in the Loop Architectures,Coordinated Searching Using Autonomous Agents,Washington Technology Center Washington Space Grant Consortium Air Force Office of Scientific Research Boeing/

18、Insitu Northwind Marine,Goals,Increase autonomy of group of agents involved in a search mission. Guarantee detection of target in search domain. Develop control laws so agents act in coordinated fashion.,Challenges,Heterogeneous team with different capabilities and constraints. Environment may be co

19、mplex and/or dynamic. Algorithm scalability and inter-vehicle communication.,20,Target locations probabilistically modeled using occupancy based maps. Search strategy based on non-linear optimization and Voronoi partitioning.,Coordinated Searching Using Autonomous Agents,Environment,Occupancy based

20、map,Single agent patrolling a New York harbor,21,Validate algorithms in simulation, in Boeing Vehicle Swarm Technology (VSTL) lab, and in flight test.,Coordinated Searching Using Autonomous Agents,Flight test in single engine aircraft over Puget Sound,Flight test using quadrotor UAVs in Boeing VSTL,

21、22,Human-in-the-Loop Control Architectures,Goals,Develop a system for rapid verification and validation of strategic, autonomous algorithms. Investigate interactions between human and automated algorithms.,Challenges,Logistics and high overhead for simple tests. Rules and regulations. Non-determinis

22、tic human behavior.,Washington Technology Center AFOSR,23,Dynamic Mission Management and Path Planning,Heterogeneous agents means varying capabilities and constraints. Actions which benefit individual agents may not benefit team. Environmental constraints.,DARPA AFOSR Northwind Marine Wash. Technolo

23、gy Center,Dynamic Mission Management and Path Planning,Distributed control of multiple, heterogeneous vehicles Provides a solution at any time, based on evolutionary computation techniques Continuous task/path replanning based on market strategies Operates in uncertain dynamic environments (weather, pop-ups, damage, new objectives) Complex performance trade-offs Collision avoidance Vehicle capabilities can be explicit Handles loss of vehicles Timing constraints can be explicit Seamless integration of operator inputs,2