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An Introduction to CB

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Transcript

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

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