Driving Environment Uncertainty-Aware Motion Planning for Autonomous Vehicles

Autonomous vehicles require safe motion planning in uncertain environments,which are largely caused by surrounding vehicles.In this paper,a driving environment uncertainty-aware motion planning framework is proposed to lower the risk of position uncertainty of surrounding vehicles with considering the risk of rollover.First,a 4-degree of freedom vehicle dynamics model,and a rollover risk index are introduced.Besides,the uncertainty of surrounding vehicles’position is processed and propagated based on the Extended Kalman Filter method.Then,the uncertainty potential field is established to handle the position uncertainty of autonomous vehicles.In addition,the model predictive controller is designed as the motion planning framework which accounts for the rollover risk,the position uncertainty of the surrounding vehicles,and vehicle dynamic constraints of autonomous vehicles.Furthermore,two edge cases,the cut-in scenario,and merging scenario are designed.Finally,the safety,effectiveness,and real-time performance of the proposed motion planning framework are demonstrated by employing a hardware-in-the-loop experiment bench.

Effects of Uncertainties in the Position and Orientation of Both the Transmitter and Receivers on Marine Controlled-Source Electromagnetic Data

Simulation and interpretation of marine controlled-source electromagnetic(CSEM) data often approximate the transmitter source as an ideal horizontal electric dipole(HED) and assume that the receivers are located on a flat seabed.Actually,however,the transmitter dipole source will be rotated,tilted and deviated from the survey profile due to ocean currents.And free-fall receivers may be also rotated to some arbitrary horizontal orientation and located on sloping seafloor.In this paper,we investigate the effects of uncertainties in the transmitter tilt,transmitter rotation and transmitter deviation from the survey profile as well as in the receiver's location and orientation on marine CSEM data.The model study shows that the uncertainties of all position and orientation parameters of both the transmitter and receivers can propagate into observed data uncertainties,but to a different extent.In interpreting marine data,field data uncertainties caused by the position and orientation uncertainties of both the transmitter and receivers need to be taken into account.

Trajectory Control: Directional MWD Inversely New Wellbore Positioning Accuracy Prediction Method

The deviation control of directional drilling is essentially the controlling of two angles of the wellbore actually drilled, namely, the inclination and azimuth. In directional drilling the bit trajectory never coincides exactly with the planned path, which is usually a plane curve with straight, building, holding, and dropping sections in succession. The drilling direction is of course dependant on the direction of the resultant forces acting on the bit and it is quite a tough job to hit the optimum target at the hole bottom as required. The traditional passive methods for correcting the drilling path have not met the demand to improve the techniques of deviation control. A method for combining wellbore surveys to obtain a composite, more accurate well position relies on accepting the position of the well from the most accurate survey instrument used in a given section of the wellbore. The error in each position measurement is the sum of many independent root sources of error effects. The relationship between surveys and other influential factors is considered, along with an analysis of different points of view. The collaborative work describes, establishes a common starting point of wellbore position uncertainty model, definition of what constitutes an error model, mathematics of position uncertainty calculation and an error model for basic directional service.

Research on uncertainty in measurement assisted alignment in aircraft assembly

Operations in assembling and joining large size aircraft components are changed to novel digital and flexible ways by digital measurement assisted alignment.Positions and orientations（P＆O）of aligned components are critical characters which assure geometrical positions and relationships of those components.Therefore,evaluating the P＆O of a component is considered necessary and critical for ensuring accuracy in aircraft assembly.Uncertainty of position and orientation（U-P＆O）,as a part of the evaluating result of P＆O,needs to be given for ensuring the integrity and credibility of the result;furthermore,U-P＆O is necessary for error tracing and quality evaluating of measurement assisted aircraft assembly.However,current research mainly focuses on the process integration of measurement with assembly,and usually ignores the uncertainty of measured result and its influence on quality evaluation.This paper focuses on the expression,analysis,and application of U-P＆O in measurement assisted alignment.The geometrical and algebraical connotations of U-P＆O are presented.Then,an analytical algorithm for evaluating the multi-dimensional U-P＆O is given,and the effect factors and characteristics of U-P＆O are discussed.Finally,U-P＆O is used to evaluate alignment in aircraft assembly for quality evaluating and improving.Cases are introduced with the methodology.

Base position planning of mobile manipulators for assembly tasks in construction environments

With good mobility and flexibility,mobile manipulators have shown broad applications in construction scenarios.Base position(BP)planning,which refers to the robot autonomously determining its working station in the environment,is an important technique for mobile manipulators when performing the construction assembly task,especially in a large-scale construction environment.However,the BP planning process is tedious and time-consuming for a human worker to carry out.Thus,to improve the efficiency of construction assembly tasks,a novel BP planning method is proposed in this paper,which can lead to appropriate BPs and minimize the number of BPs at the same time.Firstly,the feasible BP regions are generated based on the grid division and the variable workspace of the mobile manipulator.Then,the positioning uncertainties of the mobile manipulator are considered in calculating the preferred BP areas using clustering.Lastly,a set coverage optimization model is established to obtain the minimum number of BPs using an optimization algorithm according to the greedy principle.The simulated experiment based on a 9-degree of free(DoF)mobile manipulator has been performed.The results illustrated that the time for BP planning was significantly reduced and the number of BPs was reduced by 63.41%compared to existing manual planning,which demonstrated the effectiveness of the proposed method.