Successfully reported this slideshow.
We use your LinkedIn profile and activity data to personalize ads and to show you more relevant ads. You can change your ad preferences anytime.
An Introduction to CBSystem
What is CBSystem? <ul><li>AGV software components,
Physics-based simulator,
Visualization system </li></ul>3-D simulation: <ul><li>World, vehicle, and sensors
Ability to test  all  AGV software components before putting on real vehicle. </li></ul>
Why is CBSystem Important? <ul><li>An  end-to-end package </li><ul><li>Software to control the vehicle
and means to prototype and test quickly. </li></ul><li>Full, 3-D Physics simulation   </li><ul><li>Simulated AGV has wheel...
Traffic vehicles have mass, etc.
Laser sensors produce point cloud. </li></ul><li>Saves hours of development  time </li><ul><li>Design, develop, test steer...
Debug logic errors in the lab, not on the road.
Run  thousands of test scenarios  at night. </li></ul></ul>
Upcoming SlideShare
Loading in …5
×

An Introduction to CB

  • Be the first to comment

  • Be the first to like this

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>

×