Multi-agent Collaborative Flight Experiment. Karl Hedrick UC Berkeley

Transcription

1 Multi-agent Collaborative Flight Experiment Karl Hedrick UC Berkeley 1

2 Operated by the Naval Post Graduate School 2

3 !!" " #! " " $! %&!! % " ' "!! " $! %" " " %" $ " ' "!!" ("!! " $" " " ' $ " ' ) " $!* )! " %!" $!" (+, " ", % " &!!# " $! * * " " -& $! * * " " -& $ $! * " "!* " ' & $! * " "!* " " & 3

4 * "!!" " + " "!,!-+, $ " "!) "!" " # '. &!!" (/ ". 0 1 "!. " & * 1 " 3 " " ) " 5. "! " '. " 3 & "!(6 "!. " (6 "! " 4

5 ." ".1 & # " ". " " " ' " " * ".! " ' " " " " / " / " " 4 " " 7 # " ' 4 "! " ' + " 5

6 !!! + 1!! : ) 7 # " ' 4 "! " ' 1! " 9 / : ) " 1!! " " 6

7 " + " ' 1!* ; # " #!!' "! * #!* < 7

8 " # 8

9 4 5= " =" = ' =4 " > 9

10 $%,. * " *. 4 & "!" 1 "!. * " *. 7 " "!!" " / " ". * * " " &! *. 7 " "!!" " " " ". * * " " " " # " " " " " 10

11 " $ Task details Goal Trajectory Detect any velocity-bounded intruder that cannot leave a defined box UAV path depends on maximum speed of intruder; path becomes a lawnmower trajectory if maximum speed is zero 11

12 ! # $ Task details Goal Simulation Result Detect any intruder traveling from a known start point with a bounded velocity 500 of 500 intruders detected in simulation 12

13 %!. " * " " '. + * " " '. % " % " '. +, " &!* ) " # "! * " " '. / " " "! 3 " "!" 0" " " # & " *! " " " 13

14 &!#&% $ &. " ' " "!! " * " " "!) ". 7 " " " ' " & "!"!" "!" & " '. " ' &? & "!" " ". " ' " % & " "!! " 1 "!" " " 1 "!" " " ' " 14

15 #' 1 & # * * 5. : " 5 " ' # " * #!! " #!# *. 5 1 * " " " " "! 1 & 5. -!! "!" "! " $. 4 - "! " $. 1 -!! " " "! " & $ 15

16 # %()* + " "!!# " "! " ' 7!* ) " ' " "! #!* )! " ' "!&! #!* ) 7!* ) " '! #!* )! *!&! A B 7 16

17 # %()* + " "!!# " "! " ' 7!* ) " ' " "! #!* )! " ' "!&! #!* ) 7!* ) " ' " " "!!* * " 17

18 # %() " ' 4!! 7!* ), " ' "! " 7 6!* C 6! " "! "! 18

19 +,* +$%-,!. " " " ; " < " " ; " <!!# "!!!#!! " " # " 19

20 /0 X k AgentID Position[ x, y] Velocty[ vx, vy ] = ˆ k T k Plan[ P ] k Cost( P ) M k AgentID = ˆ k T k Cost( P ) " 5& " " ' " " ' 4 " 5!!" " * ) " k k # " T Tˆ & 1!" -" %!" $5 "!!" "!" " ; < # %!&!4!!-# " * " ' $ 20

21 $*, & * " " " " "!* " ' %! " ' %! " " ' " "!" * " " " ( " ' 8 21

22 * $ "! 1"! $ " "!% " " "! " " " "! 3 "!" % "!"! 22

23 +$% / 3 " "!!" " 0" %D, " " "!!*! * / 0 / ", # 4 23

24 $ & +, " " ' # # " " ' +, A. " " " '!* " & # " ". 7! +, " " E " " &! *. 6 " +,! " " " " #!!&. "! F! 6 " " &! * +, # " " " " " "!! " &!"!"! 24

25 "! /!!" &!"!" 1! ) "! 6 +, # " +,?G?! 5#! ) " " *. & " # H# ' # " &! * +,! " & " +,! " " " & # '. 6! "! '!! " %",!3 1! 25

26 "*" 2! %",!3 1!7 1 "!* "!! I H!' &!"! " % "!! % "! D" # H!'! "! " " "!J# " # H!' "! " & " "!" 26

27 #% D "! +, #!# " "! " ' "!!" "!" " +, 5"!!+,!* F "!. 6 %", 3 1 "!! #!! " "!" # " " # " * # " ' " " "! " " "!" % "! F 5. : # #!! # ' A. : # #! " * #! " A 27

28 2 "!*&!# "*" 2! 4 " " 4 " 28

29 32!#4 4 " " 4 " 29

30 32!#4 4 " " 4 " 30

31 32!#4 4 " " 4 " 31

32 ! D" 0" 4 " 4 " D " / " / 0 3 " % % " " 3 & / 0 D "! " D / " " / 0" " / 6 4! 3 6 "! 4 " ' + 1!" 32

33 5 Collaboration Sensors Mission Plan Sensor Data Piccolo Interface Aircraft Commands Telemetry Datahub Collaboration info A2A Wireless User Commands Payload Interface High Level Telemetry Mission AC Plan Commands Task Execution Safe Flight Controller Controllers 33

34 667 Balsa frame remote control aircraft kit with 110 wingspan Modifications: 32 cc gasoline engine with vibration isolation mounts Dual fuel tanks for 60 min flight time Carbon fiber reinforcement to support payload 26 lb takeoff weight Piccolo avionics system 34

35 +$% 35

36 678 $ # % # % PC104 with 700 MHz Pentium III processor 2 GB flash memory (16 GB on vision plane) Bidirectional 1 Watt amplifier for b communication Vibration isolating suspension Wireless analog video transmitter 36

37 !! Piccolo avionics system Includes 900 MHz UHF radio and Piccolo Operator Interface Aircraft to aircraft 2.4 GHz ad-hoc wireless ethernet Custom user interfaces Mission Commander Interface and Process Monitor Interface 37

38 +$% )!5, # &! " " 4!1 & * 4! 4 "!* H1!& /!" 4 " * 4 " "!!*!# &!! "!* Piccolo Avionics Ground Station Wireless Link Simulated States Actuators and Sensors Signals Ground Station Computer Manual Control Console Hardware In Loop (HIL) Simulation Computer 38

39 + $ 4! % ) " & 4 " " "!! 5 59 / : ) Ground Station 1!" 1!", #! '5 " 5 8 : ) : ) 39

40 % Piccolo Piccolo 900 MHz UHF radio Piccolo channel Autopilot commands and telemetry Piccolo Operator Interface Send waypoint commands Monitor aircraft physical state Piccolo Ground station 40

41 # % # Piccolo Piccolo PC104 PC MHz UHF radio Piccolo channel Autopilot commands and telemetry Payload channel Communication between PC104s and GUIs Piccolo Operator Interface Send waypoint commands Monitor aircraft physical state Piccolo Ground station Mission Commander Interface Create tasks Monitor status of tasks and UAVs Process Monitor Interface Activate or idle processes Monitor process states 41

42 ! Piccolo Piccolo PC104 PC104 Piccolo PC GHz b ad-hoc wireless ethernet Mission state estimates Task allocation data 42

43 2*, Mission Commander Tent Status Monitor Tent Mission Commander Interface Video downlink from aircraft Piccolo Operator Interface Read-only display of Mission Commander Interface Process Monitor Interface Aircraft launch process 1. Aircraft takes off under manual control 2. Pilot gives control to Piccolo autopilot- aircraft flies on preloaded waypoint loop 3. Onboard software is activated using Process Monitor Interface ** At this point the aircraft is controlled only via the Mission Commander Interface. All other personnel serve only as monitors.** 43

44 $ # Task parameters Timing: Priority: Number of agents: once, continuous, periodic hard priorities = task allocation constraints soft priorities = weight on cost functions system estimates number of agents to meet desired scan time or user enters number of agents Mission parameters No fly zone: UAV avoids no fly zone and cancels tasks that cannot be completed as a result Limited comm: Mission Commander Interface only communicates with UAVs within range set by user. Mission state information (ie, new tasks) propagates via aircraft to aircraft communication. 44

45 +$% ) % # 3 " 1 " *!" 4 /!! 4 " ". 6 %/ 4 " ". 4 " "! & "!" " D3 "!. " 1 #!' Fix-Mounted Camera 45

46 +$% )! " 4. 0: " & - "!506!" $. K / : ) 1 DDD. 4 L " %!" "., 4 " " -$. 1 #!*., " D!" - "!" & $ 46

47 +$% ) 1 "!, M H I %/ 4 " " % + : 6 " " #! " " 47

48 # 5! 4!!& " " ( 1 " 1!" 3 " 2 : " # " ( # " (!" D " 511!4 " " D3 " 511! I! 48

49 # 5! " ' 4!!-" ' $ "!5" " ' 1 " 4!!& " " ( 1 " 1!" 3 " 2 : " # " ( # " (!" D " 511!4 " " D3 " 511! I! 49

50 # 5! " '!! " " (! " ' " ' 4!!-" ' $ "!5" " ' 1 " 4!!& " " ( 1 " 1!" 3 " 2 : " # " ( # " (!" D " 511!4 " " D3 " 511! I! 50

51 # 5! " '!! " " (! " ' " ' 4!!-" ' $ "!5" " ' 1 ",!1 " "!/ " " 4!!& " " ( 1 " 1!" & " 3 " 2 : " # " ( # " (!" D " 511!4 " " D3 " 511! I! 51

52 # 5! " '!! " " (! " ' 4!! " " ' 4!!-" ' $ "!5" " " "!5" " ' 1 ",! " " "!/ " " 4!!& " " ( 1 " 1!" & " 3 " 2 : " # " ( # " (!" D " 511!4 " " D3 " 511! I! 52

53 # 5! / " " " '!! " " (! " ' 4!! " " ' 4!!-" ' $ "!5" " " "!5" " ' 1 ",! " " "!/ " " 4!!& " " ( 1 " 1!" & " 3 " 2 : " # " ( # " (!" D " 511!4 " " D3 " 511! I! 53

54 # 5! I!4 " " " / " " " '!! " " (! " ' 4!! " " ' 4!!-" ' $ "!5" " " "!5" " ' 1 ",! " " "!/ " 4!!& " " ( " 1 " 1!" & " 3 " 2 : " # " ( # " (!" D " 511!4 " " D3 " 511! I! 54

55 I!4 " " " / " " 4!! " "!5" " ",! " " "!/ " "!" * + 4 " -+ D$5 4 " D D! ' #! " " "!" 4 D : " 4! & " 4 "!) 4 " 4 D " I! 55

56 !!977:32 I!4 " " " / " " " '!! " " (! " ' " ' 4!!-" ' $ "!5" " " 1 " 7 6!* C & " 3 " 2 : " # " ( # " (!" D " 51 1! " 511! I! 56

57 ; D& 1 " *!" " " I " " *!". 8N! * " ".!!-"!$. N! " *!" 6! ' -8L ($., " G. " " K ' O GN ( -" ( $ " ' $. 7 "!5L. 0"!* 5%@ -# " *!" # $ " # " -N I $ 57

58 ; # & * K " Q"!H " 1 "!*! " % ". 3!" &! "? ". / " * " " 58

59 !!';& 59

60 ,3';,3;3& D "!!* % # " " " " # " " "! D& "!(" " # " "!!# "!!!!* %!' " & " " # " (+, " 3 F "! " ' "!! " " & " " 1 H # 8%N " ' "!" *!" # " * # " 4! " # " ' "!! " " * * " "!* 60

61 3# 61