E190Q – Project Introduction

Autonomous Robot Navigation

Team Member 1 Name

Team Member 2 Name

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 Preliminary Project Presentation

1. Problem Definition
 Written definition
 Overview image
 Provide performance metrics

2. Background
 Include 3+ references
 Be sure to provide full citation
 Use images from references
 Describe key findings of paper

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 Preliminary Project Presentation

3. Proposed Solution
 Block Diagram including sensors and actuators
(inputs, outputs, closed loop )
4. Measurable Outcomes
 List potential plots or tables of performance
metrics
5. Milestones
 List major tasks with dates
 Identify team member responsible if
applicable
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 Preliminary Project Presentation

 Notes:
 5 minute time limit for slides
 Both students must present
 Students will help with assessment
 Presentations on Monday, April 1, 2013

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 Problem Definition

 To design a Multi AUV Task

Planner that considers kinematic
constraints

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 Problem Definition

 To design a Multi AUV Task

Planner that considers kinematic
constraints

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 Problem Definition

 Given
 N task point locations and M AUVs
 Determine
 The assignment of tasks to AUVs and AUV
tours of assigned task points that minimizes
the maximum path length all AUV tours.

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 Problem Definition

 Performance Metrics
 Maximum AUV tour length
 Planning Time or run time complexity

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 Background
 [1] R. Zlot, A. Stentz, M. B. Dias, and S. Thayer, Multi-robot
exploration controlled by a market economy, in Proc. IEEE
Conf. Robotics and Automation, vol.3, Washington, DC, pp.
3016-3023, 2002.
 Used an auction based method in which task points are
auctioned off to robot with the highest bid (i.e. lowest additional
path cost).
 Decentralized.
 Fast, O(MN), but Sub-optimal

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 Background
 [2] L. E. Dubins, On curves of minimum length with a
constraint on average curvature and with prescribed initial
and terminal position and tangents, American J. Mathematics,
vol. 79, no. 3, pp. 497-516, Jul. 1957.
 Demonstrated the shortest path between points when minimum turn
radius is a constraint
 Shortest Path is a connected curve of minimum radius, straight line
segment, and curve of minimum radius

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 Background
 [3] Chow, Clark, Huissoon, Assigning Closely Spaced
Targest to Multiple Autonomous Underwater Vehicles,
Journal of Ocean Engineering, Vol. 41-2 2007.
 Algorithm considers vehicle dynamics and currents
 Demonstrated that using euclidean distance between task
points is a poor metric for calculating tour path length when
task points are tightly spaced
 Real Ocean Deployments

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 Background
 [3] Chow, Clark, Huissoon, Assigning Closely Spaced
Targest to Multiple Autonomous Underwater Vehicles,
Journal of Ocean Engineering, Vol. 41-2 2007.
 Algorithm considers vehicle dynamics and currents
 Demonstrated that using euclidean distance between task
points is a poor metric for calculating tour path length when
task points are tightly spaced
 Real Ocean Deployments

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 Proposed Solution

N Task Point
Locations Task Task AUV Path
Assignment M Task Sequence M Task Construction M AUV
M AUV Assignments Sequences Paths
Algorithm Algorithm Algorithm
Locations

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 Proposed Solution

 Task Assignment Algorithm

 Cluster N points into M groups K-means clustering
algorithm
 Assign one AUV to each cluster using a greedy
assignment algorithm
 Task Sequence Algorithm
 Find next closest point algorithm
 AUV Path Construction Algorithm
 Fit arc path segments between each task point of a
sequence

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 Measurable Outcomes

 Run time as a function of the number of

robots
 Average AUV path length for various ratios
of N/M
 Comparison of average AUV path length
when using standard MTSP planner and
MTSP planner that considers kinematic
constraints

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 Milestones

Data Task
Jan 15 Develop multi-AUV simulator
Feb 1 Implement Auction Based Task Planner MTSP
solution
Mar 1 Implement Auction Based Task Planner MTSP
solution

Mar 8 Run 100 simulations for each parameter setting

Mar 15 Present planner and results

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