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RI Seminar -- Alonzo Kelly
This talk will overview the results to date for my PhD thesis in the area
of autonomous cross country navigation. The work investigates aspects of
perception, planning, localization and control using the tools of complexity
and dimensional analysis, experimentation, and simulation. Ideas that emerge
are implemented on the HMMWV at CMU on a proof of principle basis.
The prototype has achieved unprecedented speeds of 15 km/hr and excursions of
15 km on a local off-road test site.
Complexity analysis leads to the conclusion that while the raw throughput
requirement for the maintenance of safety is manageable, the traditional
non-adaptive range image processing approach wastes tremendous computational
bandwidth. A simple active perception algorithm is introduced which
computationally stabilizes the sensor vertical field of view. It makes 20 mph
off road autonomy feasible and points to techniques that may permit real time
stereo perception on serial hardware.
Investigation of the impact of latencies and limits on actuator response leads
to a reformulation of planning in configuration space as feedforward
satisficingcontrol in actuation space. The traditional hierarchical
planner-controller architecture collapses into a multi-input,
multi-output feedforward controller which employs both somatic and
environmental feedback and which closes this loop at relatively high
update bandwidth. Steering feedforward, in particular, has been shown
to be crucial to reliable navigation above 5 mph on rough terrain.
The talk will overview the subsystems of typical cross country navigators
and point to the impact of high speed robust navigation on subsystem
Host: Yangsheng Xu (firstname.lastname@example.org)
Appointment: Lalit Katragadda (email@example.com)
Christopher Lee | firstname.lastname@example.org
Last modified: Thu Oct 13 19:30:08 1994