Invited talk: Sensor deployment strategies for indoor robot navigation
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Invited talk: Sensor deployment strategies for indoor robot navigation

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Invited talk: Sensor deployment strategies for indoor robot navigation Invited talk: Sensor deployment strategies for indoor robot navigation Presentation Transcript

  • Sensor-Deployment Strategies for Indoor Robot Navigation Aaron Chun-Han Lin 林均翰 Research Center for Information Technology Innovation Academia Sinica Tel: 886-2-2787-2335 Fax: 886-2-2787-2372 Email: chunhan@citi.sinica.edu.tw
  • Previous Project ITRI project  Demo video Sensor-Deployment Strategies for Indoor Robot Navigation 2 2011/8/11
  • Sensor Detection  Display 15-20% cost Embedded system Market prediction of MEMS sensor on cellular phone 3 2011/8/11
  • Wireless Sensor Network (WSN) Crossbow Mica2 Sense: light, motion, temperature, magnetic fields, gravity, humidity, vibration, pressure, electrical fields, sound, ...4 2011/8/11
  • Project Testbed http://www.csail.mit.edu/ http://fiji.eecs.harvard.edu /Volcano Harvard moteLab COMMON Sense project http://www2.ece.ohio-state.edu/~ekici/http://db.csail.mit.edu/ 5 2011/8/11
  • Importance of Deployment Technique Coverage  Detection ratio  Connectivity  Fault tolerance  … Lifetime  Energy  Maintenance Deployment cost 6 2011/8/11
  • Design of Deployment Technique Various WSN systems Different requirements Developing 3 techniques  Indoor robot navigation  Debris-flow observation  Environment surveillance 7 2011/8/11
  • Robot Routine service 8 2011/8/11
  • Indoor Robot Space navigation  Security  Housekeeping  Delivery  Medical  … http://www.worldrobotics.org/ 9 2011/8/11
  • Robot Navigation Localization Positioning sensor  A set of sensors can provide localization service  Wireless  Infrastructure  Coverage 10 2011/8/11
  • Challenge Traditional deployment  Full coverage Tradeoff  Cost  Coverage Positioning sensor How  Reducing sensor  Where  Keeping coverage  Acceptable error 11 2011/8/11
  • Error Model Target model  x’ = x + d cos(q+r) y’ = y + d sin(q+r) q ’=(q+r) mod 2p Actual configuration P(f) Configuration error  err(f)=max(P(f) – f)  |err(f)| =|max(P(f) – f)| =(max((P(x) – x)2 + (P(y) – y)2))1/2 Positioning sensor 12 2011/8/11
  • Minimum Deployment-Set Problem MDS (G, Errmax)  Width of hallway  Width of track  … The minimum deployment-set problem is NP-hard  Vertex cover problem 13 2011/8/11
  • Deployment Procedure Map Track Deployment strategy 14 2011/8/11
  • Initial Construction Divide graph Estimate error Compute number  Complexity  Probability Even 1 Decide location 1 2 3  I-EVEN  I-MAX Max 1 1 2 3 15 2011/8/11
  • Refinement Combine sub-graph Confinement region  Circular route  Tree-based  Breadth-first  Utility-based 16 2011/8/11
  • Performance Evaluation ITRI Cricket17 2011/8/11
  • Size of Deployment Set Refinement ratio Improvement ratio 18 2011/8/11
  • Configuration Error Average  Variance 19 2011/8/11
  • Conclusion Sensor-deployment strategies for indoor robot navigation  Technique: sensor network  Problem: indoor robot navigation  Problem complexity  Deployment strategy  Performance 20 2011/8/11