The Small Quick Integrated Ground-Vehicle (SQUIG): Real-time Learning Control Systems for UVs for Expeditionary Missions
Abstract
This proposal contains two main thrusts:(T1) Support of NIWC Pacific through LUCI in the development of the SQUIG vehicle. This includes providing, and adapting as necessary throughout the design process,(T1.1) autonomy software for the SQUIG vehicle,(T2.2) a simulator to evaluate mechanical configurations of the SQUIG vehicle, and(T3.3) an interface to visualize the SQUIG vehicle#s planned trajectory and other key information.(T2) Conduction of original research on flexible, hierarchical control algorithms that enable modular UVs such as SQUIG to complete dynamic missions in changing environments safely and efficiently.Our approach for Thrust 2 will be to combine vision sensing and new hierarchical control architectures in a model predictive control framework. Initial hardware tests of algorithms developed out of Thrust 2 will be conducted using existing instrumentation, simulators and test beds available at the PIs laboratory at UC Berkeley. The main experimental test bed at this stage will be an autonomous 1/10 scale RC car previously developed at UC Berkeley (BARC). The BARC platform will be used to show that the proposed hierarchical control algorithms can adapt to changes in mission goal or available sensors. (write more broadly). Once a prototype of the SQUIG vehicle has been constructed, NIWC Pacific and UC Berkeley will collaborate to integrate the new autonomy software into the SQUIG prototype, to be tested in the field. Performance and usability evaluations will be conducted throughout the subsequent design and development cycle to ensure that the autonomy software allows SQUIG to switch between mission goals robustly and perform all tasks effectively. These evaluations, along withhuman-in-the-loop evaluations, will be conducted at NIWC Pacific.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Jan 24, 2024
- Source ID
- N000142412099
Entities
People
- Francesco Borrelli
Organizations
- Office of Naval Research
- United States Navy
- University of California Regents