navigation and obstacle avoidance system for side-walk mobile robot pakorn udsatid 5370454421...
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Navigation and obstacle avoidance system for side-walk
mobile robot
Pakorn Udsatid5370454421
Advisor: Nattee Niparnan, Ph.D.
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Outline
IntroductionRelated worksProblemEtc.
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Robots – traditional
http://malct32.blogspot.com/2011/06/developed-economy-generates-more-jobs.html
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OfficeTour guideSupermarketAutonomous wheelchair
[H. Asoh et al.,01] [A. Clodic et al.,06]
[S. Nishimura et al.,07; M. Goller et al.,10] [Y. Kobayashi et al.,09]
Robots – brand new
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Characteristics
make people feel comfortable
cooperate with people; move Nice!
http://www.theage.com.au/news/technology/the-future-is-here/2006/11/05/1162661536462.html
http://5magazine.wordpress.com/2011/02/18/roila-the-robot-interaction-language/
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Person following vs side-walk
http://www.superstock.com/stock-photos-images/1889R-23044
[R. Gockley et al.,07]
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Person following vs side-walk
http://www.flickr.com/photos/21617980@N05/2099285668
http://www.fastcompany.com/1587924/robots-cody-manipulator-hands-balancing-georgia-tech-healthcare-home-robot
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friendly
Person following vs side-walk
Robotic Wheelchair Based on Observations of People UsingIntegrated Sensors [Y. Kobayashi et al.,09]
86 % of people prefer robot to move
side by sideeasy to
talkfrank
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Person following vs side-walk
Robotic Wheelchair Based on Observations of People UsingIntegrated Sensors [Y. Kobayashi et al.,09]
http://www.youtube.com/watch?v=3xXhnJuPlV4
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To develop a robot system which is able to move side-by-side person
Goal
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Develop system for robot including
avoid
obstacle
s
walk
beside
person
Person tracking
Navigation
Our problem
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System Overview
Robot
Person tracking
Obstacle detection
Navigation
Sensor
measurement data
Person position Obstacles position
Robot control
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Using camera
[C. Schlegel et al.,98]
[W. Zajdel et al.,05]
[T. Yoshimi et al.,06]
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Using LRF
[D. F. Glas et al.,07]
[J. H. Lee et al.,06]
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Sensors
sensor data type
price accuracy
Laser Range Finder
range expensive
High
camera image vary moderate
http://www.lopburi1.go.th/school/banchee/input_page_type.html
http://robotics.cs.umass.edu/?n=Main.RoboticsLabFacilities
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Kinect
http://www.arip.co.th/news.php?id=411497
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Kinect
Advantage depth image affordable priceDisadvantage narrow field of view not robust to sunlight
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System Overview
Robot
Person tracking
Obstacle detection
Navigation
Sensor
measurement data
Person position Obstacles position
Robot control
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Person tracking
[A. Carballo et al.,08]
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System Overview
Robot
Person tracking
Obstacle detection
Navigation
Sensor
measurement data
Person position Obstacles position
Robot control
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Navigation
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Navigation
[S. S. Ge and Y. J. Cui,02]
[Cao Qixin et al.,06]
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Objective
To develop a robot system which is able to move side-by-side person and avoid obstacles and uses kinect as sensor
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Proposed method
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Set up
Person
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Challenge
Kinect as sensor field of view, sunlight which person model?
Move beside person changing direction obstacles Differential drive robot
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System Overview
Robot
Person tracking
Obstacle detection
Navigation
Sensor
measurement data
Person position Obstacles position
Robot control
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Person tracking
use data at 2 levels
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Person tracking
PredictObservationUpdate
Kalman filter
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System Overview
Robot
Person tracking
Obstacle detection
Navigation
Sensor
measurement data
Person position Obstacles position
Robot control
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Navigation
Virtual force field
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Evaluation
Tracking
Avoiding obstacles
Person’s feeling
Measure robot’s path and compare with ground truth data
Avoid static objects
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Scope
Deliver robot systemUse kinect as only kind of sensorConduct experiment in indoor No clutter in workspace
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Work plan
Study the works in the related fieldsDevelop a new methodTest the systemEvaluate and summarize the resultConclude the research, Write a thesis
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Thank you.