An Introduction to CB

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An Introduction to CB

  1. 1. An Introduction to CBSystem
  2. 2. What is CBSystem? <ul><li>AGV software components,
  3. 3. Physics-based simulator,
  4. 4. Visualization system </li></ul>3-D simulation: <ul><li>World, vehicle, and sensors
  5. 5. Ability to test all AGV software components before putting on real vehicle. </li></ul>
  6. 6. Why is CBSystem Important? <ul><li>An end-to-end package </li><ul><li>Software to control the vehicle
  7. 7. and means to prototype and test quickly. </li></ul><li>Full, 3-D Physics simulation </li><ul><li>Simulated AGV has wheels, mass, suspension.
  8. 8. Traffic vehicles have mass, etc.
  9. 9. Laser sensors produce point cloud. </li></ul><li>Saves hours of development time </li><ul><li>Design, develop, test steering without a real vehicle.
  10. 10. Debug logic errors in the lab, not on the road.
  11. 11. Run thousands of test scenarios at night. </li></ul></ul>
  12. 12. CBSystem's Components <ul><li>The important parts of CBSystem are: </li><ul><li>Steering, Sensing, Planning, and a Virtual World </li></ul><li>Hardware connects them on the bot, a powerful simulation environment does it in the lab. </li></ul>
  13. 13. Steering <ul><li>Develop a steering controller in simulation and save hours of time.
  14. 14. Update existing controllers (Skid steer; follow-the-carrot; lead-lag; etc.)
  15. 15. Virtual steering behavior predicts real world steering behavior. </li></ul>
  16. 16. Sensing <ul><li>Accurately simulate many sensors. Move and reorient them in minutes.
  17. 17. Catch blind spots quickly in the virtual world by visualizing the field of view of a sensor.
  18. 18. Test sensor fusion algorithms for detecting objects. </li></ul>
  19. 19. Analyze Blind Spots
  20. 20. Planning <ul><li>Easily enhance existing path planners (UC Planner; Dynamic Neural Network; etc.)
  21. 21. Batch test scenarios help compare which planner finishes all goals first.
  22. 22. Create your own path planner and incrementally add new capabilities while using regression testing. </li></ul>
  23. 23. Visualize the Planned Path
  24. 24. Virtual World <ul><li>Load real world data: </li><ul><li>Simulate its effect on virtual vehicles, sensors.
  25. 25. Visualize previous scenarios in playback mode. </li></ul><li>AGV software components cannot distinguish between real and virtual world. </li></ul>
  26. 26. Conclusion <ul><li>CBSystem is: </li><ul><li>Flexible
  27. 27. Reliable
  28. 28. Time Saving
  29. 29. Research & Learning Tool </li></ul><li>CBSystem is worth the effort. </li></ul>

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