cps 300 - graduate seminar student presentations
TRANSCRIPT
CPS 300 - Graduate Seminar
Student Presentations
Mobile Robot Navigationwith Neural Maps
Michail G. LagoudakisDepartment of Computer Science
Duke University
(Center for Advanced Computer Studies)
(University of Southwestern Louisiana)
Motivation
Autonomous Robots– Planetary Exploration– Service Robots– Inspection Robots
Biologically-Inspired Robots– Animal Learning and Behavior– Neural Network Models
Talk Outline
Background– Mobile Robot Navigation– Neural Maps
Navigation with Neural Maps The Polar Neural Map Implementation on a Nomad 200 Results Conclusions
Mobile Robots
RWI B14 RWI B21
Nomad 200Nomad 150Nomad XR4000
Mobile Robot Navigation
Global– Map-Based
– Deliberative
– Slow
Local– Sensory-Based
– Reactive
– Fast
Navigation Subproblems
What should I remember?• Cognitive Mapping
Where am I?• Localization
Where should I go?• Path Planning
How can I go?• Motion Control
Animal Navigation
Robot Navigation
Navigation Landscape
Neural Maps
“A localized neural representation of signals in the outer world” [Amari]
Hopfield-type Neural Networks Topologically Ordered Units
Neural Map Property
Amplification through Self-Organization
Neurons
Non-linear Processing Units
Non-Linear Dynamics
ui(t)
W i V (t) i( t)
vi (t 1) (ui(t))dvi (t)
dt(ui(t)) vi(t)
Path Planning with Neural Maps
Network Topology
Path Planning Example 1
Path Planning Example 1
Path Planning Example 1
Path Planning Example 2
Path Planning Example 2
Path Planning Example 2
Problem?
Global Information?
A “Bad” Idea
A “Good” Idea
The Polar Neural Map
Represents the local space. Resembles the distribution
of sensory data. Provides higher resolution
closer to the robot. Conventions:
– Inner Ring: Robot Center
– Outer Ring: Target Direction
Example
Example (...continued)
Example (...continued)
Example (...continued)
Boudreaux (Nomad 200) Nonholonomic Mobile Base Zero Gyro-Radius Max Speeds: 24 in/sec, 60 deg/sec Diameter: 21 in, Height: 31 in Pentium-Based Master PC Linux Operating System Full Wireless 1.6 Mbps Ethernet 16 Sonar Ring (6 in - 255 in) 20 Bump Sensors
System Architecture
Results
Results (…continued)
Results (…continued)
Results (…continued)
Results (…continued)
Results (…continued)
Robot Movie
Enjoy some robotic video footage!
Contributions
Neural Maps for Fast Path Planning The Polar Neural Map Implementation on a Real Robot A Complete Local Navigation Scheme
Future Work
On-board Code Execution Polar and Logarithmic Map Global Navigation Neural Map Self-Organization
More Information
M.Sc. Thesis, Poster– http://www.cs.duke.edu/~mgl/acadpape.html
IEEE ICRA ’99 Paper– Email: [email protected]
Thank You
TheThe EndEnd!
©1998 - CPS 300 Inc.
Special thanks to
The Robotics and Automation Lab at USLProf. Anthony S. Maida
Prof. Kimon P. ValavanisProf. Bill Z. Manaris