a performance and schedulability analysis of an autonomous mobile robot
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DESCRIPTION
A Performance and Schedulability Analysis of an Autonomous Mobile Robot. Ala’ Qadi & Steve Goddard Computer Science & Engineering University of Nebraska–Lincoln. Jiangyang Huang & Shane Farritor Mechanical Engineering University of Nebraska–Lincoln. Highway Robotic Safety Marker System. - PowerPoint PPT PresentationTRANSCRIPT
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A Performance and Schedulability Analysis of an Autonomous Mobile RobotJiangyang Huang & Shane FarritorMechanical EngineeringUniversity of NebraskaLincoln
Ala Qadi & Steve Goddard Computer Science & Engineering University of NebraskaLincoln
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Highway Robotic Safety Marker SystemRSM system is a mobile, autonomous, robotic, real-time system that automates the placement of highway safety markers in hazardous areas.The RSMs operate in mobile groups that consist of a single lead robot (the foreman) and worker robots (RSMs).prototype foreman.
A prototype RSM
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Tasks Performed by the ForemanPlan its own path and motion.
Locate RSMs, plan their path, communicate destinations points, and monitor performance.
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Foreman Design
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Foreman Path PlanningPlan its own path and motion. Sonar sensors are used to detect obstacles in the foremans path.The sonar unit consists of a ring of 24 active sonar sensors, with 15 separation, that provides 360 coverage around the foreman.Sonar Sensor Distribution
90
15
15
15
15
15
15
15
15
15
15
15
15
15
15
15
15
15
15
15
15
15
15
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15o
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Foreman Path PlanningSonar Send Task: Sends a command to its corresponding sonar sensor to transmit its signal.
Sonar Receive Task: Reads the corresponding sonar sensor after the signal is echoed back to the sensor.
Motor-Control Task: Computes the path of the foreman and controls its speed based on the data collected from the sonar signals.
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Foreman Path Planning Task SetForeman Motion Control Task Set
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Foreman Path PlanningCase 1: Ideal Environment (No Obstacles)
vmax.ps
vmax.ps
Zone 0*
D = Dmax(Sonar Range)
vmax.ps
. . .
System Start
Motion Start
. . .
D = Dmax(Sonar Range)
D = Dmax(Sonar Range)
Zone 1
Zone 0
Zone 2
vmax.ps
Zone 3
S0
S1
S2
S3
S4
ps
ps
ps
ps
ps
Time
Traveled Distance
(0,0)
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Foreman Path PlanningCase 1: Ideal Environment (No Obstacles)
vmax.ps
vmax.ps
Zone 0*
D = Dmax(Sonar Range)
vmax.ps
. . .
System Start
Motion Start
. . .
D = Dmax(Sonar Range)
D = Dmax(Sonar Range)
Zone 1
Zone 0
Zone 2
vmax.ps
Zone 3
S0
S1
S2
S3
S4
ps
ps
ps
ps
ps
Time
Traveled Distance
(0,0)
-
Foreman Path PlanningMaximum Safe Distance Depends on the obstacles.Speed might need to be adjusted at scan points due to obstacles.This means that the maximum speed for the zone after the obstacle is also dependent on the speed before reaching the obstacle.Case 2: Obstacles Exist
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Example Scenario 1 D=Dmax , No period adjustments
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Example Scenario 2Period adjustments and Sonar Range Adjustments
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RSM Motion Planning and TrackingLocate RSMs, plan their path, communicate destinations points, and monitor performance. A laser scanner is used to determine the location of the RSMs.
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RSM Motion Planning and Tracking Task Set
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Relation Between RSM Location Estimation Error and the Laser Scan PeriodAverage Error Maximum Error
Maximum Error in R (scatter)
9.3653714871
15.1737405434
26.6249953154
25.2276165776
22.3116800418
31.2245954371
35.3625617105
40.7469263685
42.480221108
47.1771094093
50.0916455772
55.6030032203
47.6233838743
60.7142135633
56.3489162623
53.674123498
67.1801886218
71.7838405875
63.4124897584
74.0165730525
Maximum Error in R
5msp
tX0Y0X1Y1X2Y2X3Y3X4Y4Error X0Error Y0Error X1Error Y1Error X2Error Y2Error X3Error Y3Error X4Error Y4Delta X0Delta Y0Delta X1Delta Y1Delta X2Delta Y2Delta X3Delta Y3Delta X4Delta Y4
84920.31509-647146-591215-517295-431364.25-3554450000.785398010000011.7510
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84924.55421-647146-591215-517295-430366-3544440000000000000010000000011
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84935.87619-581144-535.004955227.164636-468287.504098-398.299228363.815294-327.179508449.7076-0.5585990.362493-0.217801-0.7579290.619819121.0049550.16463610.5040980.7007723.1847060.1795081.707602.3750.0049550.6895673.0493850.2069351.7007723.7525033.1085432.899807
-581 Average0.51.68751.00247750.34478351.02469250.39653250.3503862.37625150.73377951.4499035
84935.92342-580.819929142.189229-532227.605263-468287.142857-398.008509366.983708-329.013459447.8177570.0416430.240846-0.27830.1976350.0263761.8199290.18922910.60526310.1428570.0085090.0162924.0134590.1822430.1800711.8107713.0049550.44062700.3612410.2907193.1684141.8339511.889843
-580.819929 Average1.8199290.18922910.60526310.1428570.0085090.0162924.0134590.182243
84935.97807-578144.375-529.882583226.559211-465286.434211-397.078527368.038445-323.424338447.4403070.643501-0.27052-0.2325570.663556-0.22131401.3750.1174171.44078900.4342111.0785271.0384451.5756620.5596932.8199292.1857712.1174171.04605230.7086460.9299821.0547375.5891210.37745
-578 Average01.3750.1174171.44078900.4342111.0785271.0384451.5756620.559693
84936.03093-577.046652143.366795-529.025373228.354959-467.007082286.734508-395.524927366.788462-3254480.4636480.477591-0.287494-0.36452600.0466520.3667951.0253730.6450414.0070820.7345080.5249270.211538300.9533481.0082050.857211.7957482.0070820.3002971.55361.2499831.5756620.559693
-577.046652 Average0.0466520.3667951.0253730.6450414.0070820.7345080.5249270.21153830
84936.08386-576142.625-526.15169230.961889-461285.487342-394366.877551-3194480.0499580.710005-0.199829-0.040794000.3750.848311.96188900.48734210.122449211.0466520.7417952.8736832.606936.0070821.2471661.5249270.08908960
-576 Average00.3750.848311.96188900.48734210.12244921
84936.13877-577.004164142.929918-526.482387228.789031-459284.449367-391367.038136-320.114231450.3033580.013888-0.335324-0.3007210.0084740.8960553.0041640.0700821.4823870.21096910.55063310.0381360.1142311.3033581.0041640.3049180.3306972.17285821.03797530.1605851.1142312.303358
-577.004164 Average3.0041640.0700821.4823870.21096910.55063310.0381360.1142311.303358
84936.19148-572143.485714-524.719126229.012994-459.015479284.307301-391367-319.029877449.8257640.113792-0.192752-0.43978100.54406821.4857140.7191260.0129943.0154790.692699210.0298770.1742365.0041640.5557961.7632610.2239630.0154790.14206600.0381361.0843540.477594
-572 Average21.4857140.7191260.0129943.0154790.692699210.0298770.174236
84936.25599-574142.787037-523228.162791-455.443113285.172116-386.138213369.719731-318450.250.101502-0.2721460.2472350.4326660.46364831.21296300.1627911.4431131.1721160.8617872.71973110.2520.6986771.7191260.8502033.5723660.8648154.8617872.7197311.0298770.424236
-574 Average31.21296300.1627911.4431131.1721160.8617872.71973110.25
84936.29905-568.53383147.450191-522.059301227.141404-452.092196282.770104-385.133053365.733082-319.02574449.7155450.780282-0.680629-0.505871-0.5002370.0045450.466173.4501911.0593011.8585960.0921961.2298960.8669472.2669183.025740.2844555.466174.6631540.9406991.0213873.3509172.4020121.005163.9866491.025740.534455
-568.53383 Average0.466173.4501911.0593011.8585960.0921961.2298960.8669472.2669183.025740.284455
84936.35723-568.911257143.935723-519.602774229.864557-450.016579283.233108-385.002064367.506181-315.050239449.306437-0.2007230.481397-0.276798-0.088693-0.4366271.9112570.0642770.6027740.1354430.0165790.7668921.0020640.4938191.0502390.6935630.3774273.5144682.4565272.7231532.0756170.4630040.1309891.7730993.9755010.409108
-568.911257 Average1.9112570.0642770.6027740.1354430.0165790.7668921.0020640.4938191.0502390.693563
84936.41178-565.359779143.21328-517.234647232.085052-448.424338284.559693-382.097489369.269496-312450-0.2958090.7472860.2213140.42742500.3597790.786720.7653532.0850520.4243380.5596931.0974890.269496113.5514780.7224432.3681272.2204951.5922411.3265852.9045751.7633153.0502390.693563
-565.359779 Average0.3597790.786720.7653532.0850520.4243380.5596931.0974890.26949611
84936.46489-563144-519.010917229.877408-446284-384.029838368.219513-312.076693451.97220700.20275900.1970730.73892002.0109170.122592114.0298380.7804871.0766930.9722072.3597790.786721.776272.2076442.4243380.5596931.9323491.0499830.0766931.972207
-563 Average002.0109170.122592114.0298380.7804871.0766930.972207
84936.51729-561144-516.010968229.630814-442.108732281.457815-379.008138369.518215-309451.5384620-0.182722-0.3989050.345340.226799011.0109680.3691861.8912681.5421850.0081380.51821510.538462202.9999490.2465943.8912682.5421855.02171.2987023.0766930.433745
-561 Average011.0109680.3691861.8912681.5421850.0081380.51821510.538462
84936.57449-559.091347146.219688-513229.518868-443.008388282.445898-378.091391368.821321-309.050239450.3064370.491106-0.112728-0.354413-0.122292-0.4366271.0913472.21968810.4811322.0083880.5541022.0913910.1786790.0502391.6935631.9086532.2196883.0109680.1119460.8996560.9880830.9167470.6968940.0502391.232025
-559.091347 Average1.0913472.21968810.4811322.0083880.5541022.0913910.1786790.0502391.693563
84936.64715-555.103761142.645858-513230-440.415205283.103866-373369-308.073196452.948382-0.329200.14834700.7302981.1037611.354142102.4152050.103866102.0731960.9483823.9875863.5738300.4811322.5931830.6579685.0913910.1786790.9770432.641945
-555.103761 Average1.1037611.354142102.4152050.103866102.0731960.948382
84936.69004-550.038382142.882654-510229.92623-435283.009402-372368.99015-307.210869452.060192-0.189387-0.0163920.001343-0.001876-0.1291121.9616180.11734601.0737721.00940201.009852.2108690.0601925.0653790.23679630.073775.4152050.09446410.009850.8623270.88819
-550.038382 Average1.9616180.11734601.0737721.00940201.009852.2108690.060192
84936.74398-550142.841549-508.125483232.366247-436.01501281.802735-370.065144371.015591-304.041239451.294513-0.1832720.539199-0.3928340.436352-0.44584501.1584510.8745171.3662471.015010.1972651.0651441.0155910.0412391.7054870.0383820.0411051.8745172.4400171.015011.2066671.9348562.0254413.169630.765679
-550 Average01.1584510.8745171.3662471.015010.1972651.0651441.0155910.0412391.705487
84936.79793-548.010285144.161208-508.014733231.593566-433.016806281.248256-372.012191369.709993-303.053397453.7365550.1444420.414292-0.285790.0795090.6566291.0102850.1612081.0147330.5935660.0168060.7517445.0121911.2900071.0533970.7365551.9897151.3196590.110750.7726812.9982040.5544791.9470471.3055980.9878422.442042
-548.010285 Average1.0102850.1612081.0147330.5935660.0168060.7517445.0121911.2900071.0533970.736555
84936.85098-544.064994145.263171-506.415614230.850128-431.62164282.710361-365371.329545-304.035384452.7206350.282375-0.2179720.3187020.2371850.0408860.0649940.2631711.4156140.1498720.621640.71036100.3295453.0353840.2793653.9452911.1019631.5991190.7434381.3951661.4621057.0121911.6195520.9819871.01592
-544.064994 Average0.0649940.2631711.4156140.1498720.621640.71036100.3295453.0353840.279365
84936.90489-547.004663144.295978-503231.024112-429282-363.011892371.696247-300.050239452.3064370.1964930.00507600.255574-0.4366275.0046630.29597810.024112100.0118920.6962471.0502390.6935632.9396690.9671933.4156140.1739842.621640.7103611.9881080.3667023.9851450.414198
-547.004663 Average5.0046630.29597810.024112100.0118920.6962471.0502390.693563
84936.96074-540.014709143.782721-503230.935961-429281.967005-361.376027370.405326-297453-0.172209-0.019702-0.010152-0.22428700.0147090.21727900.06403910.0329950.6239731.594674016.9899540.51325700.08815100.0329951.6358651.2909213.0502390.693563
-540.014709 Average0.0147090.21727900.06403910.0329950.6239731.59467401
84937.02078-538.064627142.832157-502230.813559-426282-361.03927372.522831-295.136377455.460131-0.392959-0.06769300.559940.5617550.9353731.16784311.186441000.039270.5228310.1363771.4601311.9500820.95056410.12240230.0329950.3367572.1175051.8636232.460131
-538.064627 Average0.9353731.16784311.186441000.039270.5228310.1363771.460131
84937.0721-538.014034144.390371-499.162255233.559146-424282-360.024244372.568166-293454.50.2321620.58702400.4601330.1973961.0140340.3903710.1622552.559146100.0242440.56816610.50.0505931.5582142.8377452.745587201.0150260.0453352.1363770.960131
-538.014034 Average1.0140340.3903710.1622552.559146100.0242440.56816610.5
84937.12382-535144-497.166972229.57394-424282-360.40835372.419565-293.016743453.6115450-0.5302160-0.14889-0.25206110.8330281.42606102.408350.5804350.0167431.3884553.0140340.3903711.9952833.985206000.3841060.1486010.0167430.888455
-535 Average110.8330281.42606102.408350.5804350.0167431.388455
84937.17796-535.079819142.087498-497.057082229.985986-421282-356.179508374.7076-292.072789455.90019-0.736656-0.62455800.6198190.7201161.0798190.9125021.0570821.014014100.8204921.70762.0727890.900190.0798191.9125020.109890.412046304.2288422.2880350.9439542.288645
-535.079819 Average1.0798190.9125021.0570821.014014100.8204921.70762.0727890.90019
84937.23175-532142.473684-495.165226231.308853-421282-356373.4-291.290071455.065696-0.2242350.23877700.291457-0.12367510.5263161.1652260.6911471001.43.2900710.0656963.0798190.3861861.8918561.322867000.1795081.30760.7827180.834494
-532 Average10.5263161.1652260.6911471001.43.2900710.065696
84937.28552-532.082725143.820401-492.144267233.615824-418282-355.123014370.856259-286.047658454.1232670.5667290.588890-0.828849-0.2722580.0827250.8204011.8557331.615824101.1230142.1437410.9523420.8767330.0827251.3467173.0209592.306971300.8769862.5437415.2424130.942429
-532.082725 Average0.0827250.8204011.8557331.615824101.1230142.1437410.9523420.876733
84937.33805-531142.892857-494232-418282-352.480567374.387378-286455-0.0389410.64350100.592187000.10714331000.4805671.387378211.0827250.9275441.8557331.615824002.6424473.5311190.0476580.876733
-531 Average00.10714331000.4805671.38737821
84937.40082-530141.75-494.075969231.968564-417282-350.054111373.980942-281.138213457.719731-0.4636480.21799900.3348830.43266601.254.0759691.031436100.9458890.9809421.8617871.71973111.1428570.0759690.031436102.4264560.4064364.8617872.719731
-530 Average01.254.0759691.031436100.9458890.9809421.8617871.719731
84937.45151-529144.25-489.018893232.367115-414282.160377-350.016743372.611545-282456.3235290.463648-0.2606020.037718-0.252060.23109111.251.0188930.63288510.1603770.9832570.38845510.32352912.55.0570760.39855130.1603770.0373681.3693970.8617871.396202
-529 Average11.251.0188930.63288510.1603770.9832570.38845510.323529
84937.50383-530143-487.357743232.89084-414282-351373-280.240265455.8487770-0.12918900-0.137279100.3577431.1091600200.2402651.15122311.251.661150.52372500.1603770.9832570.3884551.7597350.474752
-530 Average100.3577431.1091600200.2402651.151223
84937.55755-528141.857143-486.070284234.958379-413282-347373-279.075637457.843523-0.5191460.720273000.71409111.1428570.0702840.95837901111.0756370.84352321.1428571.2874592.06753910401.1646281.994746
-528 Average11.1428570.0702840.95837901111.0756370.843523
84937.61137-529142.75-485.033046235.113889-412.096811279.605631-347.147495375.378928-276457.538462-0.4636480.617927-0.8441540.9272950.22679910.250.0330461.1138890.9031891.3943691.1474951.37892800.46153810.8928571.0372380.155510.9031892.3943690.1474952.3789283.0756370.305061
-529 Average10.250.0330461.1138890.9031891.3943691.1474951.37892800.461538
84937.66646-527147-484.037043233.024832-413282-344374.538462-278.007239457.2739721.107149-0.4018710.9827940.2267990.298587141.0370431.9751681110.5384623.0072390.72602824.250.9960032.0890570.9031892.3943693.1474950.8404662.0072390.26449
-527 Average141.0370431.9751681110.5384623.0072390.726028
84937.74146-528143-481.194493236.935873-412281.2-344.054746373.179064-274.014606458.62042400.661370.099669-0.4724970.419506000.8055071.93587300.21.0547460.8209361.0146060.379576142.842553.91104110.80.0547461.3593983.9926331.346452
84937.78365-528143-481235.352941-412281-341374-271459.73076900.277004000.3671741010.647059000110.730769000.1944931.58293200.23.0547460.8209363.0146061.110345
-528 Average0.500.90275351.29146600.10.5273730.9104681.0073030.5551725
84937.83825-527143-478236.796053-412281-339.137134376.482584-271459.400.3797500.5653460.2914570020.796053000.8628662.48258410.41031.443112001.8628662.48258400.330769
84937.89043-527143-480237.035714-412281-339.007678374.078858-269.314808458.78791601.0603080-0.180185-0.2207040011.035714001.0076780.9211420.3148081.2120840020.239661000.1294562.4037261.6851920.612084
84937.94661-527143-478.099245233.553792-412281-336375.173077-268.075637460.8435230-0.88187200.1484720.714091010.9007552.4462080010.1730770.0756370.843523001.9007553.481922003.0076781.0942191.2391712.055607
84937.99937-527142-479236-412281-336.072185376.054798-267.027436460.7534490000.6540830.5166950021100.0721851.0547981.0274360.753449010.9007552.446208000.0721850.8817211.0482010.090074
84938.05437-527142-475.367656237.022605-411281-335.288051374.807793-265.417442459.67776900.2561510-0.193021-0.392206011.6323440.022605000.2880510.1922070.4174421.322231003.6323441.022605100.7841341.2470051.6099941.07568
84938.11512-527143-477236-411281-334375-264.075637461.8435230-0.463648000.714091001100010.0756370.843523011.6323441.022605001.2880510.1922071.3418052.165754
84938.16409-527143-476236-411281-333.113372377.077487-263.027436461.75344900.46364800.8097840.5166950101000.8866282.0774870.9725640.7534490010000.8866282.0774871.0482010.090074
84938.21805-527142-476237-411281-334374.75-264461000-0.244979-0.46364801001021.25000101000.8866282.3274870.9725640.753449
84938.27188-527143-476236.9375-409281.875-333.694133375.613441-2644610-0.2449790.463648-0.02777100000.062510.1251.6941330.386559200100.062520.8750.3058670.86344100
84938.32424-527143-476237-410282-332376-2624610000001002110120000.062510.1251.6941330.38655920
84938.37958-527142-476237-407.507987280.475251-331.676134376.100259-260.206714465.81755200-0.855053-0.0554991.22524101100.5079870.5247490.6761340.1002590.2067143.81755201002.4920131.5247490.3238660.1002591.7932864.817552
84938.43155-527143-478237.4375-408.011753280.907244-331376-261.006464462.0659770-0.244979-0.17137900.2872810020.43751.0117530.092756002.0064640.0659770120.43750.5037660.4319930.6761340.1002590.799753.751575
84938.49273-527143-475236.6875-407281.384615-331376-258.206849460.454360-0.2449790.4002410-0.9151010010.312510.384615100.7931511.545640030.751.0117530.477371002.7996151.611617
84938.54604-527143-476236.9375-405280.2-330376-2594620-0.244979-0.38050600.4636480010.062500.800000010.2521.184615100.7931511.54564
84938.59612-527143-477237-404283.25-330376-259462000.78539800001002.2500210010.062513.050000
84938.65321-527143-475236.6875-403280.583333-330376-2574630-0.244979-0.165149000010.312510.41666700100020.312512.6666670021
84938.70414-527143-476236.9375-404281.25-330376-2564630-0.2449790.3217510-0.1651490000.062511.2500100010.2510.6666670010
84938.76022-527143-476236.9375-403280.5-330376-254.132476462.701870-0.2449790.4636480-0.2104720000.062510.5000.8675240.29813000010.75001.8675240.29813
84938.83533-527143-476237-402280.333333-330376-255463000.16514900000010.33333300100000.062510.166667000.8675240.29813
84938.87823-527143-476237-400.23161280.494484-330376-253463000.3587710000000.768390.494484011100001.768390.1611510020
84938.93052-527143-476237-401280-330377-25446400000000000011000000.768390.4944840111
84938.98475-527143-476237-401280-330376-2554640000000001000000000000110
84939.03876-527143-476237-400280-330376-2554640000000000000200000100000
84939.09119-527143-476237-400280-330376-2514640000000001000300000000040
84939.14862-527143-476237-401280-330376-2554640000000001000100000100040
84939.2084-527143-476237-400280-330376-2544640000000001000100000100010
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84939.36586-527143-476237-400280-330376-2534640000000001000000000000010
84939.41725-527143-476237-401280-330376-2534640000001001000100000100000
84939.47222-527142-476237-400280-330376-2544640000001000000000100100010
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