Recommended
More Related Content
Similar to Path planning for a mobile robot in an unknown environment using D* lite
Similar to Path planning for a mobile robot in an unknown environment using D* lite (20)
Recently uploaded
Recently uploaded (20)
Path planning for a mobile robot in an unknown environment using D* lite
- 1. Path planning for a mobile robot in an unknown environment using D* lite Jakub Tomášek Special Topics in Robotics Sungkyunkwan university 2013
- 2. 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
- 3. Homemate v3 ● Intelligent Systems Research Institute + Yujin ● ● ● Mobile manipulation robot Humanoid with one arm :-) Helping elderly
- 4. Homemate v3 ● 10 IR range-finders ● 8 motors ● Robotic hand ● Stargazer ● 3D camera ● ● Linux machine controls HW Windows notebook is the brain – Ethernet
- 6. Project goal ● Navigation in unknown environment for Homemate ● D* lite ● C++ ● Obstacle detection using processed 3D image in form of octree cells
- 7. Environment 2 by 3 metres marked area
- 8. 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
- 9. 3D vision and octree cell representation ISRC develops cognitive recognition system Octree cells are used for object segmentation and recognition to make decision Lee et al. 2012
- 10. 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
- 11. Octree mapping
- 12. Octree mapping
- 13. 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
- 14. 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.
- 15. Interface
- 16. 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
- 17. Moving the robot
- 18. 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
- 19. 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
- 20. Conclusion Problems 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 ● ● Not obstacle forgetting In more complex environment the robot fails
- 21. 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 :-)
- 22. Special thanks to Ahmed M. Naguib Thank you. Please ask me anything!