Autonomous vehicle navigation: from behavioral to hybrid multi-controller architectures

256 Pages·2016·512.817 MB·English

by  Adouane, Lounis

Autonomous
Vehicle Navigation
From Behavioral to Hybrid
Multi-Controller Architectures
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Autonomous
Vehicle Navigation
From Behavioral to Hybrid
Multi-Controller Architectures
Lounis Adouane
Institut Pascal - Polytech
Clermont-Ferrand, France
CRC Press
Taylor & Francis Group
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Version Date: 20160223
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Contents
CHAPTER 1(cid:4) Global concepts/challenges related to the
control of intelligent mobile robots 1
1.1 AUTONOMOUS/INTELLIGENT MOBILE ROBOTS 2
1.2 OVERVIEW OF THE CHALLENGES RELATED TO
FULLY AUTONOMOUS NAVIGATION 7
1.3 MAIN BACKGROUNDS AND PARADIGMS 11
1.3.1 Flexibility/stability/reliabilitydefinitions 11
1.3.2 Reactiveversuscognitivecontrolarchitectures 11
1.3.3 Centralized versus decentralized control architec-
turesforcooperativerobotics 13
1.3.4 Boundarylimitbetweenplanningandcontrol 14
1.4 FROM BEHAVIORAL TO MULTI-CONTROLLER
ARCHITECTURES 15
1.4.1 Multi-controllercoordination 17
1.4.2 Multi-controllerarchitectures(mainchallenges) 19
1.5 NAVIGATION BASED ON TRAJECTORY OR TARGET
SET-POINTS 21
1.6 CONCLUSION 22
CHAPTER 2(cid:4) Autonomous navigation in cluttered
environments 25
2.1 OVERALL NAVIGATION FRAMEWORK DEFINITION 26
2.2 SAFE OBSTACLE AVOIDANCE AS AN IMPORTANT
COMPONENT FOR AUTONOMOUS NAVIGATION 28
2.3 OBSTACLE AVOIDANCE BASED ON PARALLEL
ELLIPTIC LIMIT-CYCLE (PELC) 31
2.3.1 ElementaryPELC 31
2.3.2 Referenceframeslinkedtothetaskachievement 35
vii
viii (cid:4) Contents
2.4 HOMOGENEOUS SET-POINTS DEFINITION FOR
ROBOT’S NAVIGATION SUB-TASKS 37
2.4.1 Targettrackingset-pointsbasedonglobalplannedpath 37
2.4.2 Targettrackingset-pointsbasedonlocalplannedpath 38
2.4.3 Generaltargetreaching/trackingset-points 38
2.5 MULTI-CONTROLLERARCHITECTURESFORFULLY
REACTIVE NAVIGATION 39
2.5.1 Mainstructures 39
2.5.2 Sensorinformationblock 40
2.5.3 Hierarchicalactionselectionblock 42
2.5.4 Set-pointblocks 43
2.5.4.1 Reactiveobstacleavoidancecontroller 43
2.5.4.2 Attractiontothetargetcontroller 47
2.5.5 Simulationsandexperimentalresults 47
2.6 CONCLUSION 51
CHAPTER 3(cid:4) HybridCD (continuous/discrete)multi-controller
architectures 53
3.1 INTRODUCTION 54
3.2 ELEMENTARY STABLE CONTROLLERS FOR
TARGETS REACHING/TRACKING 54
3.2.1 Dedicatedtounicyclemobilerobots 55
3.2.1.1 Simplecontrollawforstatictargetreaching 55
3.2.1.2 Generic control law for static/dynamic tar-
getreaching/tracking 56
3.2.2 Dedicatedtotricyclemobilerobots 57
3.3 PROPOSED HYBRID CONTROL ARCHITECTURES 60
CD
3.3.1 Hybrid CAbasedonadaptivefunction 61
CD
3.3.1.1 GlobalstructureforAF 61
3.3.1.2 Applicationforreactivenavigation 63
3.3.1.3 Simulationresults 66
3.3.2 Hybrid CAbasedonadaptivegain 68
CD
3.3.2.1 GlobalstructureforAG 68
3.3.2.2 Application for dynamic target tracking in
aclutteredenvironment 71
3.3.2.3 Simulationresults 73
3.4 CONCLUSION 75
Contents (cid:4) ix
CHAPTER 4(cid:4) HybridRC (reactive/cognitive) and homoge-
neous control architecture based on PELC 77
4.1 HYBRID CONTROL ARCHITECTURES 78
RC
4.2 OVERVIEW OF DEVELOPED PLANNING METHODS 79
4.3 OPTIMAL PATH GENERATION BASED ON PELC 80
4.3.1 LocalpathgenerationbasedonPELC∗ 80
4.3.2 GlobalpathgenerationbasedongPELC∗ 83
4.4 HOMOGENEOUS AND HYBRID CONTROL
RC
ARCHITECTURE 88
4.4.1 ReactivenavigationstrategybasedonlocalPELC∗ 90
4.4.2 CognitivenavigationbasedongPELC∗ 91
4.4.3 Hybrid andhierarchicalactionselection 91
RC
4.4.4 Extensivevalidationbysimulation 92
4.4.4.1 TheuseofgPELC∗ fordifferent
environments 93
4.4.4.2 Switch from cognitive to reactive naviga-
tionandviceversa 99
4.5 CONCLUSION 101
CHAPTER 5(cid:4) Flexible and reliable autonomous vehicle nav-
igation using optimal waypoints configuration 103
5.1 MOTIVATIONS AND PROBLEM STATEMENT 104
5.1.1 Motivations 104
5.1.2 Problemstatement 105
5.2 STRATEGY OF NAVIGATION BASED ON
SEQUENTIAL TARGET REACHING 106
5.2.1 Proposedmulti-controllerarchitecture 108
5.2.2 Sequentialtargetassignment 109
5.3 CONTROL ASPECTS 109
5.3.1 Reliableelementarytargetreaching 110
5.3.2 Smoothswitchingbetweentargets 112
5.3.3 Simulationresults(controlaspects) 113
5.3.3.1 Elementarytargetreaching(stability/
reliability) 113
5.3.3.2 Sequentialtargetreaching/switching 114
5.4 WAYPOINTS’ CONFIGURATION ASPECTS 118
5.4.1 Stateoftheart 118