Autonomous Mobile Robots Searching Methods By: Alex Morales - - PowerPoint PPT Presentation

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Nov 19, 2022 367 likes •646 views

Autonomous Mobile Robots Searching Methods By: Alex Morales Graduate Mentor : Joey Durham Faculty Advisor: Francesco Bullo Better Algorithms Design algorithms for better multi-robot coordination Design a Search Algorithms for robots

SLIDE 1

Autonomous Mobile Robots Searching Methods

By: Alex Morales Graduate Mentor : Joey Durham Faculty Advisor: Francesco Bullo

SLIDE 2

Better Algorithms

 Design algorithms for better multi-robot

coordination

 Design a Search Algorithms for robots

−

Better understand robot – surrounding interaction

SLIDE 3

Autonomous Robots

What are autonomous robots?
Why should we study them?
How will they help us?

Google images

SLIDE 4

Applications

 Make human life easier

– Perform common tasks, help the handicapped

Google images

 Search and rescue robos

SLIDE 5

Project Goals

 Build a foundation for searching algorithms

for autonomous robots

 Create an efficient algorithm to search for an

bject in a known map.

– Minimize time

SLIDE 6

Project Goals

Target object Robot

Static Environment

Obstacle/Wall

SLIDE 7

Project Goals

Target object Robots

Static Environment

Obstacle/Wall

SLIDE 8

Project Goals

Target object Robots

Static Environment

Obstacle/Wall

SLIDE 9

Project Goals

Target object Robot

Unknown Static Environment

SLIDE 10

Project Goals

Robots

Unknown Environment

Target object = ?

SLIDE 11

Equipment: Robot hardware

Joey Durham

Laser range- finder Stereo Vision Camera On board computer

SLIDE 12

Player/Stage Interface

 Is a open source

software that enables us to do research.

 Player is a network

server for robot controls

 Stage simulates mobile

robots in 2-D.

 Advantages vs

Disadvantages

"All the world's a stage, And all the men and women merely players."

William Shakespeare, As You Like It

Joey Durham

SLIDE 13

Searching Algorithm

 Main part of algorithm

– Design, Test, Refine

Receive laser data Create frontier Decide next move Check if

bject was found

Object found finish.

SLIDE 14

Design

Check for Frontier
Visibility of the robot
Polygons
Save polygons instead of having to save every

point of the frontier

SLIDE 15

Determining how to move

Default left
Decision based
n Frontier

SLIDE 16

Result so far ...

SLIDE 17

Result so far ...

SLIDE 18

Result so far ...

SLIDE 19

Result so far ...

SLIDE 20

Result so far ...

SLIDE 21

Exploration Graph

Map of the Robot
Graph of nodes/positions of robots

SLIDE 22

Conclusion

Field of Vision of Robot
Visible polygon
Decision making part of algorithm
Based on how frontier/boundary are created

and stored

– Intersections merge frontier arcs.

Navigate through map with an exploration

graph.

SLIDE 23

Acknowledgements

Mentor Joey Durham
Dr. Francesco Bullo
Ofelia Aguirre
Eric Pressly
CNSI
NSF
SIMS and EPSEM programs

SLIDE 24

Multiple Robots

Object 2

SLIDE 25

Laser Rangefinder

Model: Hokuyo URG
Wavelength: 785 nm
Range: 4 meters
Scan rate: 10 Hz
Resolution: 0.36 degrees
Price: $2500

Source: http://www.videredesign.com/robots/era_mobi.html

SLIDE 26

Robot Chassis

Model: Videre ERA-MOBI
Size: cm(L) x 37cm (W) x 18 cm(H)
Batteries: 3x 12V 7 Amp-Hour (4-5 Hours)
Encoder accuracy: 500 counts/rev
Speed: Up to 2.0 m/s
Capacity: 20 kg (44 lbs)
Price: $2350

Source: http://www.videredesign.com/robots/era_mobi.html

SLIDE 27

Conclusion

Object 1