path planning for a mobile robot in an unknown environment using d* lite
DESCRIPTION
Special Topics in Robotics Sungkyunkwan university 2013TRANSCRIPT
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Path planning for a mobile robot in an unknown
environment using D* lite
Jakub Tomášek
Special Topics in RoboticsSungkyunkwan university
2013
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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
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Homemate v3
● Intelligent Systems Research Institute
+ Yujin
● Mobile manipulation robot
● Humanoid with one arm :-)
● Helping elderly
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Homemate v3
● 10 IR range-finders● 8 motors● Robotic hand● Stargazer● 3D camera
● Linux machine controls HW
● Windows notebook is the brain– Ethernet
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Note: stargazer
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Project goal
● Navigation in unknown environment for Homemate
● D* lite● C++● Obstacle detection
using processed 3D image in form of octree cells
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Environment
2 by 3 metres marked area
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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
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3D vision and octree cell representation
ISRC develops cognitive recognition systemOctree cells are used for object segmentationand recognition to make decision
Lee et al. 2012
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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
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Octree mapping
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Octree mapping
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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
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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.
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Interface
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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
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Moving the robot
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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
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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
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Conclusion
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
Problems● Not obstacle
forgetting● In more complex
environment the robot fails
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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 :-)
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Special thanks to
Ahmed M. Naguib
Thank you. Please ask me anything!