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imara:events:2007_tourbat7 [2011/02/04 14:07] (current)
Paulo RESENDE created
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 +====== 2007: Demonstration tour building 7 ======
 +A.K.A. "Communicating Autonomous Vehicles Demo".
 +===== Presentation =====
 +
 +A new, complete demo is required to synthesize our various on-going works.
 +
 +We propose a comprehensive demo, targeted for first trimester 2007.
 +
 +This demo rely on the previous "Tour du bâtiment 7" with some communications features added.
 +
 +----
 +
 +{{:wiki:old: :projects:cybercars2:demonstrations:plan_general.png?600 |:projects:cybercars2:demonstrations:plan_general.png}}
 +
 +({{:projects:cybercars2:demonstrations:plandemo.xar|Source file [Xara Xtreme format]}})
 +
 +
 +We aim to show **7 main points**.
 +
 +A Cybercar should be able to:
 +  - Move alone along a given route (made of waypoints) ;
 +  - Detect and avoid non-moving obstacle ;
 +  - Correctly steer to change direction ;
 +  - Detect and avoid pedestrians ;
 +  - Avoid another Cybercar through trajectories exchange ;
 +  - Detect and avoid moving obstacle ;
 +  - Correctly handle a crossroads situation, either autonomously or under supervision.
 +
 +Moreover, Cybercars are expect to interact with users through:
 +  - Inputs -> we should be able to easily enter a route to follow, even remotely.
 +  - Outputs -> we should be able to see the current situation, even remotely.
 +
 +===== Demo content =====
 +
 +
 +The demo consists of seven independant situations, around the Bât.7.
 +
 +In the requirement listings, **bold** entries emphasize software parts which don't exist yet. Each point only introduces requirements or features which weren't previously listed.
 +
 +==== Move alone along a given route ====
 +
 +{{:wiki:old: :projects:cybercars2:demonstrations:point_1.png?279 |:projects:cybercars2:demonstrations:point_1.png}}
 +
 +//Required or desired features://
 +  - Targeted speed : **3 m.s^-1**
 +  - Localisation **with Visual Servoing integration**
 +  - **Route planner Integration** (prototypes already exist) + **HMI** (à la Google Maps. cf Rodrigo's work)
 +  - **Route planner - trajectory planner Integration**
 +  - **Dynamic speed Adaptation**. Some things already exist. Have to be summarized.
 +  - Stop & Go (either on Laser or Mouches backed)
 +
 +==== Detect and avoid non-moving obstacle ====
 +
 +{{:wiki:old: :projects:cybercars2:demonstrations:point_2.png?257 |:projects:cybercars2:demonstrations:point_2.png}}
 +
 +//Required or desired features://
 +  - SLAMMOT **with Visual Servoing integration**
 +  - SLAMMOT either on Laser **or Mouches** based
 +  - **Working** PMP
 +
 +==== Handle correctly a simple crossroad situation autonomously ====
 +
 +{{:wiki:old: :projects:cybercars2:demonstrations:point_3.png?274 |:projects:cybercars2:demonstrations:point_3.png}}
 +
 +==== Detect and avoid moving obstacle (crossing pedestrian) ====
 +
 +{{:wiki:old: :projects:cybercars2:demonstrations:point_4.png?390 |:projects:cybercars2:demonstrations:point_4.png}}
 +
 +==== Avoid another Cybercar through trajectories exchange ===
 +
 +{{:wiki:old: :projects:cybercars2:demonstrations:point_5.png?407 |:projects:cybercars2:demonstrations:point_5.png}}
 +
 +//Required or desired features://
 +  - **Inter-Cybercars communication** to exchange trajectories (already works on the simulator).
 +    - Meshed Wifi + OLSR ?
 +    - IPv6 backed (NEMO, MANET...)
 +    - Quality of Service
 +
 +==== Detect and avoid moving obstacle (car) ====
 +
 +{{:wiki:old: :projects:cybercars2:demonstrations:point_6.png?505 |:projects:cybercars2:demonstrations:point_6.png}}
 +
 +==== Handle correctly a crossroad situation with multiple Cybercars, under supervision ====
 +
 +{{:wiki:old: :projects:cybercars2:demonstrations:point_7.png?369 |:projects:cybercars2:demonstrations:point_7.png}}
 +
 +//Required or desired features://
 +  - Supervision Algo
 +  - **Communication with the "crossroads manager" **
 +  - **Supervisor-recommended trajectory integration (either by a brutal remote controlling or by a more subtle :) influence)**
 +  - **Pattern detection** to recognize the crossroad and to relocate (software bricks exist : Binbin or les Mines)
 +
 +==== Other points of interest ====
 +
 +  * Visualisation
 +    - DB + Vizu
 +    - Intégrer **l'affichage des trajectoires** et de **l'incertitude** (hors Twingo/RTK)
 +
 +
 +===== Other ideas =====
 +//These ideas may or may not be integrated to the demo.//
 +
 +  * PMP Platooning
 +  * Gestion de flotte/réservation
 +  * Odométrie 4 codeurs
 +  * Odométrie visuelle
 +  * **Switch mode de fonctionnement**
 +  * Localisation absolue au démarrage ->une brique existe basée sur les passages piétons : à convertir de MATLAB à C++
 +  * Déplacement dans une foule
 +  * Carrefour équipé de capteurs -> à intégrer au carrefour supervisé (par exemple, pour savoir s'il y a des piétons). Problème : on perd l'indépendance vis-à-vis de l'infrastructure.
 +  * Démo à réaliser : croisement de 2 véhicules via Visual Servoing
 +  * Installation de 2 têtes stéréo sur les Cycabs
 +  * A creuser : détection de la route (-> Yann, Nicolas, Rodrigo)
 +  * Quality of Service -> voir ce qui peut être intégré.
 +
 +
 +===== Main difficulties =====
 +
 +  * Software development (getting the machines to do what we want)
 +  * Software design for a shared code base across heterogeneous vehicles
 +  * Detection of the road ([[:wiki:old:tourbat7_images|where the vehicle can run ?]])
 +
 +===== See also =====
 +
 +  - [[:wiki:old:projects:cybercars2:demonstrations:tourbat7:organisation|Meetings & Organisation]] for the demo development.
 +
 +{{tag>event imara cybercars2 2007 past}}
 
imara/events/2007_tourbat7.txt · Last modified: 2011/02/04 14:07 by Paulo RESENDE
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