Intelligent Autonomous Vehiclesosorio.wait4.org/oldsite/palestras/CERMA07-Intro.pdf · Intelligent Autonomous Vehicles CERMA 2007 / Tutorial Intelligent Autonomous Vehicles •Introduction

Grupo de Pesquisas em Veículos Autônomos

Autonomous Vehicles Research Group - Unisinos

CERMA 2007 / TutorialCERMA 2007 / Tutorial

Autonomous Vehicles:Autonomous Vehicles:Research, Design and Implementation of Research, Design and Implementation of

Intelligent Autonomous VehiclesIntelligent Autonomous Vehicles

AutonomousAutonomous VehiclesVehicles ResearchResearch GroupGroup -- GPVAGPVAhttp://www.eletrica.unisinos.br/~autonomhttp://www.eletrica.unisinos.br/~autonom

Tutorial Tutorial pagepage : : http://inf.unisinos.br/~osorio/palestras/cerma07.ht mlhttp://inf.unisinos.br/~osorio/palestras/cerma07.ht ml

Dr. Fernando S. Dr. Fernando S. OsórioOsório -- Applied Computing Applied Computing PostPost --Grad. ProgramGrad. Program PIPCAPIPCADr. Christian R. Dr. Christian R. KelberKelber -- Electrical Engineering / Computer Eng.Electrical Engineering / Computer Eng.Dr. Dr. CláudioCláudio R. Jung R. Jung -- Applied Computing Applied Computing M.ScM.Sc. Program PIPCA. Program PIPCAM.ScM.Sc. . FarleiFarlei HeinenHeinen -- Computer Engineering B.Sc. (Director)Computer Engineering B.Sc. (Director)

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Intelligent Autonomous Vehicles


GPVA

Grupo de Pesquisas em Veículos Autônomos Grupo de Pesquisas em Veículos Autônomos -- GPVAGPVAAutonomous Vehicles Research GroupAutonomous Vehicles Research Group

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GPVA


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GPVA


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http://www.eletrica.unisinos.br/~autonomhttp://www.eletrica.unisinos.br/~autonom

GPVA



Google:

GoogleGoogle::Veículos AutônomosVeículos Autônomos



Intelligent Autonomous VehiclesIntelligent Autonomous Vehicles• Introduction• Robotic: Automatons, Mobile Robots and Autonomous R obots� Perception, Action, Locomotion e Communication� Control and Intelligence• Intelligent Vehicles� Technologies for Vehicle Automation � Control pyramid• Intelligent Control of Autonomous Vehicles� Control : Computational Architectures � Simulation of Autonomous Vehicles • Computer Vision

• Practical Applications

Agenda55



• Introduction

• Robotics:

Automatons, Mobile Robots and

Autonomous Robots and Vehicles



Robotics: OriginRobotics: Origin

Robotics: Origin66



Robotics: EvolutionRobotics: Evolution

77Robotics: Origin



Robotics: Robot TypesRobotics: Robot Types

* Manipulation Robots :

• Fixed Base Robot ArmsIndustrial manipulators

• Embedded Manipulator Arms

• Robot Cranes

* Mobile Robots :

• Industrial AGV (Automated Guided Vehicles)

• Indoor Robots: Vehicles, Holonomic, Humanoid, ...

• Outdoor Robots: Terrestrial (road, all terrain / of f-road), Underwater, Aerial, Inter-planetary, ...

88Robot Types



* Robôs Móveis :

• AGV Industriais (Automated Guided Vehicles)

• Robôs Indoor: Veículos, Holonômicos, Humanoides, .. .

• Robôs Outdoor: Terrestres (estradas, todos-terrenos ), Sub-Marinos, Aéreos, Inter-Planetários, ...

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* Manipulation Robots :

• Fixed Base Robot ArmsIndustrial manipulators

• Embedded Manipulator Arms

• Robot Cranes

Robot Types



* Manipulation Robots:Fixed base robotic arms

XX O1010


Robot Types

Videos-Unisinos\JogoVelha.mpg

Software-Unisinos\SimArm-Robix



* Mobile Robots:

1. Vehicles- Terrestrial Vehicles / Indoor - Terrestrial Vehicles / Outdoor- Space Exploration Vehicles- Water Vehicles: Boats and Underwater- Flight Vehicles: Dirigible balloons, Airplanes and Helicopters

2. Humanóides

3. Animats

A. Robôs Móveis Tele-Comandados

B. Robôs Móveis Semi-Autônomos

C. Robôs Móveis Autônomos

1111


Robot Types



* Mobile Robots:

1. -----

2. Humanoids

3. Animats

A.

B.

C.

1212


Robot Types

Videos-Robotica\ASIMO



* Mobile Robots:

1. Veículos Móveis- Veículos Terrestres / Indoor- Veículos Terrestres / Outdoor- Veículos de Exploração Espacial- Veículos Aquáticos / Barcos e Submarinos- Veículos Aéreos / Dirigíveis, Aviões e Helicópteros

2. Humanóides

3. Animats

A. Tele-Operated Mobile Robots


1313Robot Types



* Robôs Móveis:


2. Humanóides

3. Animats


1414


Robot Types



* Robôs Móveis:

1. Veículos Móveis- Veículos Terrestres / Indoor- Veículos Terrestres / Outdoor- Veículos de Exploração Espacial- Veículos Aquáticos / Barcos e Submarinos- Veículos Aéreos / Dirigíveis, Aviões e Helicóptero s

2. Humanóides

3. Animats


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Robot Types

Videos-Unisinos\Clip_Carro_Full.mpgVideos-Unisinos\drive_by_cellphone.mpgVideos-Unisinos\glove-cinepak.mpgVideos-Unisinos\glove-tv-unis.mpg



* Mobile Robots:


2. Humanoids

3. Animats

A. Robôs Móveis Tele-Comandados

B. Semi-Autonomous Mobile Robots => AGV

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Robot Types

Videos-Unisinos\agv.mpg



* Mobile Robots: (commercial)

>> Autonomous Mobile Robots <<

AUTOMONOUSRobots 1717




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* Mobile Robots: (academic)


AUTOMONOUSRobots

Videos-Unisinos\ofnis.mpg



* Mobile Robots / Fixed Robots

>> Autonomous Robots <<

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AUTOMONOUSRobots

Videos-Unisinos\JogoVelha.mpg

MSF-VisSDKIntel OpenCV



* Mobile Robots:


Challenges:

* Interaction with the Environment

* Greater Autonomy

* Execution of Complex Tasks

* Robustness

* Intelligence

2020


AUTOMONOUSRobots



Documents

Intelligent Autonomous Vehiclesosorio.wait4.org/oldsite/palestras/CERMA07-Intro.pdf · Intelligent Autonomous Vehicles CERMA 2007 / Tutorial Intelligent Autonomous Vehicles •Introduction