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Special Topics in Robotics Sungkyunkwan university 2013
Citation preview
Path planning for a mobile robot in an unknown
environment using D* lite
Jakub Tomášek
Special Topics in RoboticsSungkyunkwan university
2013
Outline
1.Introduction– Homemate robot– Project definition
2.My solution of the problem– Obstacle detection and mapping– D* lite
– Moving the robot
3.Conclusion, remarks, questions
Homemate v3
● Intelligent Systems Research Institute
+ Yujin
● Mobile manipulation robot
● Humanoid with one arm :-)
● Helping elderly
Homemate v3
● 10 IR range-finders● 8 motors● Robotic hand● Stargazer● 3D camera
● Linux machine controls HW
● Windows notebook is the brain– Ethernet
Note: stargazer
Project goal
● Navigation in unknown environment for Homemate
● D* lite● C++● Obstacle detection
using processed 3D image in form of octree cells
Environment
2 by 3 metres marked area
Outline
1.Introduction– Homemate robot– Project definition
2.My solution of the problem– Obstacle detection and mapping– D* lite
– Moving the robot
3.Conclusion, remarks, questions
3D vision and octree cell representation
ISRC develops cognitive recognition systemOctree cells are used for object segmentationand recognition to make decision
Lee et al. 2012
Obstacle detection
● I simply assume that each there is an obstacle in place of the octree cell
● Mapping of the octree cells into 2D map
● Grid size: 10cm
Octree mapping
Octree mapping
Outline
1.Introduction– Homemate robot– Project definition
2.My solution of the problem– Obstacle detection and mapping– D* lite
– Moving the robot
3.Conclusion, remarks, questions
D* lite● Koenig, S., and M. Likhachev.
“Improved Fast Replanning for Robot Navigation in Unknown Terrain.” In IEEE International Conference on Robotics and Automation, 2002. Proceedings. ICRA ’02, 1:968–975 vol.1, 2002. doi:10.1109/ROBOT.2002.1013481.
● Koenig, S., and M. Likhachev. “Fast Replanning for Navigation in Unknown Terrain.” IEEE Transactions on Robotics 21, no. 3 (2005): 354–363. doi:10.1109/TRO.2004.838026.
Interface
Outline
1.Introduction– Homemate robot– Project definition
2.My solution of the problem– Obstacle detection and mapping– D* lite
– Moving the robot
3.Conclusion, remarks, questions
Moving the robot
Moving the robot in reality: troubles and issues
● Closed platform : limited control of the robot– Move forward/backward X cm
– Turn left/right X Degrees
● Cannot apply any feedback trajectory tracker → moving
● But feedforward and slipping → very inaccurate → limiting the grid size
Outline
1.Introduction– Homemate robot– Project definition
2.My solution of the problem– Obstacle detection and mapping– D* lite
– Moving the robot
3.Conclusion, remarks, questions
Conclusion
What I achieved● D* lite and obstacle
mapping seem to work well
● Robot is most of time able to navigate to the goal in the simple environment but it is troublesome
Problems● Not obstacle
forgetting● In more complex
environment the robot fails
What did I taken from the project
● I wish I use a smaller robot● Robots are fun but life is never as easy as the
simulations● It is useful to know Korean when working on
Korean computer :-)● Confirmed again Murphy's laws
– "Anything that can go wrong, will go wrong".
→Opt for more theoretical thesis :-)
Special thanks to
Ahmed M. Naguib
Thank you. Please ask me anything!