robot localisation & mapping: navigation ken birbeck
TRANSCRIPT
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ROBOT LOCALISATION & MAPPING:NAVIGATION
Ken Birbeck
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Introduction
Talk about Navigation Path finding
What is path finding How robots are able to find a path
My background Initial to do list Final deliverable
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Navigation
Navigation is the process in which the robot looks at data about its surroundings, determines where the desired targets are located and then using this data, determines a safe path to a target from its current location.
Thus navigation has 2 main phases Planning Motion.
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Planning the path to follow
Path finding The process through which a path to travel
is determined Relatively easy for humans but not so
easy for robots Examples of path finding algorithms
A-star D-star
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A-star path finding
Divides a map into sections/nodes Plans a least-cost path based on a
distance plus cost heuristic function. Sum of 2 functions
Path cost function Admissible heuristic estimate of the distance to
the desired location.
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D-star path finding
D-star pseudo code: Makes assumptions about unknown parts of
the environment Finds the shortest path from the robots
location to a given location based on those assumptions
Detects obstacles and updates the map Calculates a new shortest path
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Background
My background – worked on the lynx robot as part of robotic systems last year
Developed simple navigation programs: Wall follower program Imprinting program
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Project start to do list
Adaptation of programs from last year to a proximity alert program using IR sensors
Produce a simple exploring algorithm Produce a path finding algorithm
Determining a path to a know location of a target
Determine the location of a target and then a path to it
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Final Deliverable
Final deliverables: lynx robot to autonomously map and
navigate an indoor area. If time permits expanded to navigating a
outside area and 3D mapping.
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Questions?
Thank you for your time. Any questions?