tailieunhanh - Dynamic Vision for Perception and Control of Motion - Ernst D. Dickmanns Part 15

Tham khảo tài liệu 'dynamic vision for perception and control of motion - ernst d. dickmanns part 15', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Task To Be Performed Mission Decomposition 405 mission performance the central decision unit CD has to monitor these aspects and eventually has to make the decision to abandon the planned mission sequence to improve safety aspects this may even result in stopping the mission and calling for inspection by an operator. Task To Be Performed Mission Decomposition The knowledge needed for mission performance depends on the task domain and on the environmental conditions most likely to be encountered. The satisfaction of these requirements has to be taken care of by the human operator today learning may be an important component for the future. Assuming that the capabilities available meet the requirements of the mission the question then is How is the mission plan generated taking both sides overall mission requirements and special behavioral capabilities into account First it is analyzed for all consecutive parts of the mission whose perceptual and behavioral capabilities have to be available to perform the mission safely. The side constraints regarding both perception and locomotion have to be checked both lighting and weather conditions play a certain role. For example the same route to be taken may be acceptable during daytime and when the surface is dry. Driving autonomously during nighttime when there are puddles of water on the road reflecting lights from different urban sources or from oncoming vehicles is not possible with today s technology. The result of this step is a first list of mission elements with all individual capabilities needed disregarding how they are organized in the system. As an example let us look at a mission starting at a parking lot in a courtyard which has an exit onto a minor urban road with two-way traffic mission element ME1 . After a certain distance traveled on this road ME2 a major urban road three lanes has to be entered to the right ME3 . From this road a left turn has to be made at a traffic light with a separate .