オープンハウス出展_090521
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“Autonomous robot navigation avoiding obstacles”
2009/05/21 Sousuke Nakamura & Shimon Ajisaka
Purpose of the demo Show the audience how intelligent the robot could be by giving information of environment This time, we are using LRF data as an information of environment. We are planning to demonstrate autonomous robot navigation avoiding obstacles by only using LRF.
What is autonomous robot navigation avoiding obstacles ? Autonomous Navigation You just need to choose some points. The robot cruise autonomously along the points according to real time path planning. Avoid Obstacles Avoiding static obstacles (ex. building) Avoiding dynamic obstacles (ex.human)
How to achieve autonomous robot navigation avoiding obstacles Phase1…Make environment map Make environment map by SLAM using LRF data Robot navigation is manual Correct the robot position (since dead reckoning data is unreliable) by superimposing local map with tentative environment map
Phase2…Autonomous navigation avoiding obstacles Path planning is done in real time by potential method using environment map Robot navigation is autonomous Correct the robot position (since dead reckoning data is unreliable) by superimposing local map with complete environment map
Image of Potential Method (Khatib)
Consider calculated force vector as
Image of demo : only static obstacle Point C
Point A
Point B
Image of demo : with dynamic obstacle Point C
Point B
change the robot direction according to real time path planning
Dynamic obstacle
Point A
2009/05/21 Sousuke Nakamura & Shimon Ajisaka
Purpose of the demo Show the audience how intelligent the robot could be by giving information of environment This time, we are using LRF data as an information of environment. We are planning to demonstrate autonomous robot navigation avoiding obstacles by only using LRF.
What is autonomous robot navigation avoiding obstacles ? Autonomous Navigation You just need to choose some points. The robot cruise autonomously along the points according to real time path planning. Avoid Obstacles Avoiding static obstacles (ex. building) Avoiding dynamic obstacles (ex.human)
How to achieve autonomous robot navigation avoiding obstacles Phase1…Make environment map Make environment map by SLAM using LRF data Robot navigation is manual Correct the robot position (since dead reckoning data is unreliable) by superimposing local map with tentative environment map
Phase2…Autonomous navigation avoiding obstacles Path planning is done in real time by potential method using environment map Robot navigation is autonomous Correct the robot position (since dead reckoning data is unreliable) by superimposing local map with complete environment map
Image of Potential Method (Khatib)
Consider calculated force vector as
Image of demo : only static obstacle Point C
Point A
Point B
Image of demo : with dynamic obstacle Point C
Point B
change the robot direction according to real time path planning
Dynamic obstacle
Point A
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