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Component based,hardware-software system for fuzzy controlling of automated vehicles

László Siroki 5th year comp. sci.Tivadar Pápai 5th year comp. sci. Attila Geresdi 5th physicistSupervisor: Dr. László T. Kóczy, TMIT

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The motivation

Contest in Kiskunhalas, 2006 Task: build a mars rover model from simple elements The mission:

find a metal plate hidden under the sandy surface take sand sample over the plate take this back to the base dodge the obstacles

Difficulties every user command was delayed by 30s Orientation by the photos of a „satellite” (web camera)

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The „Tiger tank” before start

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On the way…

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Finish line

Base

We are behind the draught screen

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Construction

Caterpillar model vehicle Own motor driver electronics Controlling unit: „mitmót” (with TinyOS system)

Motor controlling, sensor handling, radio communication Sensors:

Metal detector Collision detector

Outputs: Trier (LEDs)

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Software architecture Component-based, replaceable elements,

expandable Implementation: C#.NET 2.0

GUI

World modelView, controler

View, controler

Rover configuration

Caterpillar model

Caterpillar controller

Caterpillar controlling

Position detector

objects

TinyOS message handling

Web camera locator

Position calculation

LED detection

Web camera handling

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Position-determination

Web camera at a fixed location

LEDs Pattern is important

Image processing Detection of LEDs Calculation of 3D

transformation Web camera

calibrationkB kE

kP

TB,E

TB,C

TC,P

TC,E

kDP

TP,DP

kCOdX dY

Xc (in camera frame)

Yc

(in c

amer

a fram

e)

Extracted corners

100 200 300 400 500 600

50

100

150

200

250

300

350

400

450

d

d

d

d

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The controller

Purpose: to follow a piece-wise linear path Difficulties:

The behavior of the rover is non-linearWe get the position of the rover delayed

The delay can oscillate

The system is non-linear

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The simpliest solution: fuzzy controller Inputs:

Angular deviation Angular velocity

Outputs: Average of the

caterpillar-tracks’ signals

and their difference

start

end

pseudo target

mars rover

angular deviation

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User interface

Configuration Sematic map

Path creation

Manual control Buttons Joystick

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Future plans - 1

Path planning Reduced to a physics

problem Springs with charged ends Repelling stones Finding the state with

minimal energy by Monte-Carlo method

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Future plans - 2

Simulator Necessity

Making development faster (developing without a vehicle) Optimization of the controller At the next year’s contest satellite picture will be available

every 1s, between these intervals we could estimate the vehicle’s position

Implementation MLP network (using its universal approximator property)

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Thank you for your attention!

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The fuzzy rules and the (Vd,Va) outputs\ NL NS Z PS PL

NL Z;Z Z;Z PL;Z PL;Z PL;Z

NS Z;Z PS;S PS;M PS;L Z;M

Z Z;S PS;M Z;L NS;M Z;S

PS Z;M NS;L NS;M NS;S Z;Z

PL NL;Z NL;Z NL;Z Z;Z Z;Z