INTELLIGENT ROBOT GUIDANCE IN FIXED EXTERNAL CAMERA NETWORK FOR - - PowerPoint PPT Presentation
1 INTELLIGENT ROBOT GUIDANCE IN FIXED EXTERNAL CAMERA NETWORK FOR NAVIGATION IN CROWDED AND NARROW PASSAGES Abhijeet Ravankar, Ankit Ravankar, Yukinori Kobayashi, Takanori Emaru Laboratory of Robotics and Dynamics, Human Mechanical Systems and
Laboratory of Robotics and Dynamics, Human Mechanical Systems and Design, Graduate School of Engineering, Hokkaido University, Sapporo, Japan abhijeet@eis.hokudai.ac.jp
Abhijeet Ravankar, Ankit Ravankar, Yukinori Kobayashi, Takanori Emaru
1
2
(40 MB, medium video quality)
(16 MB, low video quality)
In case the link does not work, kindly contact: Abhijeet Ravankar, abhijeetravankar@gmail.com (c) Abhijeet Ravankar, Hokkaido University, Sapporo, Japan, 3rd International Electronic Conference on Sensors and Applications, 2016
USN: Collection and utilization of information in real time,
USN’s broad idea: There will be sensors able to exchange information with gateways and Perform assigned tasks In coming years, service robots will have to be integrated with USN
@southmead
Service robot at home and public places are expected to increase in coming years.
@kinghtscope @hospi @roomba
(c) Abhijeet Ravankar, Hokkaido University, Sapporo, Japan, 3rd International Electronic Conference on Sensors and Applications, 2016
3
Sensors (ex: camera) are mostly ‘forward’ facing
Blind about moving entities on the back side
Sensors are generally attached at a lower height
Blind about far-off obstacles Occlusion causes loss of information Robot is blind about these people Problem of occlusion
(c) Abhijeet Ravankar, Hokkaido University, Sapporo, Japan, 3rd International Electronic Conference on Sensors and Applications, 2016
4
There are narrow passages in
Multiple robots cannot simultaneously
Causes deadlock Requires intelligent resource
Must consider factors like robot’s
Intelligent path planning
(c) Abhijeet Ravankar, Hokkaido University, Sapporo, Japan, 3rd International Electronic Conference on Sensors and Applications, 2016
5
(c) Abhijeet Ravankar, Hokkaido University, Sapporo, Japan, 3rd International Electronic Conference on Sensors and Applications, 2016
6
Provides a birds-eye view Robot is no longer
A resource allocator can be
(c) Abhijeet Ravankar, Hokkaido University, Sapporo, Japan, 3rd International Electronic Conference on Sensors and Applications, 2016
7
Power Estimator
DB
Total power for multiple tasks:
(c) Abhijeet Ravankar, Hokkaido University, Sapporo, Japan, 3rd International Electronic Conference on Sensors and Applications, 2016
8
Request from robot comes as pair, where
Emergency
(c) Abhijeet Ravankar, Hokkaido University, Sapporo, Japan, 3rd International Electronic Conference on Sensors and Applications, 2016
9
(c) Abhijeet Ravankar, Hokkaido University, Sapporo, Japan, 3rd International Electronic Conference on Sensors and Applications, 2016
10
1 1
(c) Abhijeet Ravankar, Hokkaido University, Sapporo, Japan, 3rd International Electronic Conference on Sensors and Applications, 2016
11
Pioneer P3-DX Turtlebot
Sensors and System SLAM Raspberry Pi + Camera
(c) Abhijeet Ravankar, Hokkaido University, Sapporo, Japan, 3rd International Electronic Conference on Sensors and Applications, 2016
12
(c) Abhijeet Ravankar, Hokkaido University, Sapporo, Japan, 3rd International Electronic Conference on Sensors and Applications, 2016
13
(c) Abhijeet Ravankar, Hokkaido University, Sapporo, Japan, 3rd International Electronic Conference on Sensors and Applications, 2016
14
(c) Abhijeet Ravankar, Hokkaido University, Sapporo, Japan, 3rd International Electronic Conference on Sensors and Applications, 2016
15
(c) Abhijeet Ravankar, Hokkaido University, Sapporo, Japan, 3rd International Electronic Conference on Sensors and Applications, 2016
16
Prediction by camera side Kalman Filter
(c) Abhijeet Ravankar, Hokkaido University, Sapporo, Japan, 3rd International Electronic Conference on Sensors and Applications, 2016
17
(c) Abhijeet Ravankar, Hokkaido University, Sapporo, Japan, 3rd International Electronic Conference on Sensors and Applications, 2016
18
External camera sensor network can provide a lot of relevant
Robots can plan better trajectories and plan optimal paths towards
It’s feasible to design a resource allocator in such sensor network.
External camera N/W can provide remote information to robots to
(c) Abhijeet Ravankar, Hokkaido University, Sapporo, Japan, 3rd International Electronic Conference on Sensors and Applications, 2016
19
20