知能システム論１１２移動ロボットのナビゲーション２００７６１９講義内容１はじめに２ベクトルの基礎３運動学 Kinematics

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知能システム論１（１２）移動ロボットのナビゲーション２００７．６．１９

講義内容１．はじめに２．ベクトルの基礎３．運動学(Kinematics) ４．動力学（Dynamics) ５．ロボットの腕の制御(Control)力制御６．軌道計算(Trajectory) ７．移動ロボット(Mobile Robot)ナビゲーション

Indoor Navigation of Multiple Mobile Robots in a Dynamic Environment Using i. GPS Presented at the 2002 IEEE International Conference on Robotics and Automation

Contents • Objective • Approach to multi-robot navigation • Application of multi-robot navigation in a dynamic environment • Conclusions

Objective - Delivery Service Robots in Office -

Approach to Multi-robot Navigation • Car navigation using GPS • System configuration • Localization and map construction

Localization: i. GPS (indoor GPS) IR LED Unit [2] Y. Hada and K. Takase: ”Multiple Mobile Robot Navigation Using The Indoor Global Positioning System (i. GPS)”, Proc. of IROS 2001, pp. 1005 -1010, 2001.

Map construction Y X 14. 3[m] corridor desks Robot room 32. 2[m] We created a map using both building plan and a layout of furniture

Previous Work Multi-robot navigation in　a static environment [2] Y. Hada and K. Takase: ”Multiple Mobile Robot Navigation Using The Indoor Global Positioning System (i. GPS)”, Proc. of IROS 2001, pp. 1005 -1010, 2001.

Multi-robot Navigation in a Dynamic Environment • We use the external robot control system for globally rational navigation • We need to introduce some methods to update environmental map by recognizing moving object – Using i. GPS – Using onboard sensor

Classification of obstacles • Labelable obstacles to which artificial marks can be attached – Chairs • Unlabelable obstacles which is difficult to bear artificial marks – People • Unmovable obstacles – Walls, Pillars, 　Desks, Shelves

Recognition of labelable Obstacles Using i. GPS • Mark-based vision [Y. Hada, K. Takase: 1997] – Object recognition can be replaced with simpler mark recognition We introduce mark-based vision into i. GPS to recognize labelable obstacles.

IR LED Unit y Start bits Object ID number bit End bit LED x LED Length: 134 mm Width : 36 mm

Object Model　– pillar-like object v 4 x v 1 y Object ID=“１”…Chair v 2 v 3

Procedure of Object Recognition v 1 y v 4 x v 2 World Coordinate System v 3 Yw Xw V 1 V 4 V 2 V 3

Detection of unlable obstacles using an onboard sensor • Moving objects (people) are detected by onboard sensor • We assume that people temporarily impede a robot’s movement Laser range finder 30[degrees] Omnidirectional Mobile robot Direction of robot’s movement 60[cm]

Experimental setup

Experiment - Delivery Task -

Movable obstacle avoidance

Unload stowage

Detection of moving obstacle

Summary of Research • The multi-robot navigation system based on i. GPS was proposed. • The experiment of delivery task was carried out in the time-varying environment. • The system could successfully navigate multiple robots reliably and robustly, suggesting the practical usefulness.

Concluding Remarks • • Importance of robots for social application History of R/D on robot technology reviewed Social robots not realized by conventional R/D Intelligent Environment Supported Robot is proposed aiming at breakthrough in robotics • Mobile robot system for delivery in a building developed, demonstrating the feasibility and effectiveness of the proposed approach

Car navigation using GPS satellite • Planning route using map • Localization method Return

System Configuration External section • External sensing devices – Facilitate localization remarkably – Useful for indoor navigation Off-carrier sensors On-carrier sensors Internal section [3] R. Gutsche and F. M. Wahl: “A New Navigation Concept for Mobile vehicles”, Proc. Of IEEE IROS’ 92, pp. 215 -220, 1992. return