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ROBOT LOCALISATION & MAPPING:NAVIGATION
Ken Birbeck
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
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.
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
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.
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
Background
My background – worked on the lynx robot as part of robotic systems last year
Developed simple navigation programs: Wall follower program Imprinting program
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
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.
Questions?
Thank you for your time. Any questions?