an experiment on squad navigation of human and robots iarp/euron workshop on robotics for risky...
Post on 21-Dec-2015
216 views
TRANSCRIPT
![Page 1: An experiment on squad navigation of human and robots IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance January 7th-8th,](https://reader035.vdocuments.us/reader035/viewer/2022062421/56649d5f5503460f94a3f0fc/html5/thumbnails/1.jpg)
An experiment on squad navigation of human and robots
IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance
January 7th-8th, 2008 - Benicàssim (Spain)
L. Nomdedeu, J. Sales, E. Cervera, J. Alemany,R. Sebastia, J. Penders, V. Gazi
![Page 2: An experiment on squad navigation of human and robots IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance January 7th-8th,](https://reader035.vdocuments.us/reader035/viewer/2022062421/56649d5f5503460f94a3f0fc/html5/thumbnails/2.jpg)
Overview
• Introduction
• System configuration
• Implementation
• The experiment
• Conclusion and future work
![Page 3: An experiment on squad navigation of human and robots IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance January 7th-8th,](https://reader035.vdocuments.us/reader035/viewer/2022062421/56649d5f5503460f94a3f0fc/html5/thumbnails/3.jpg)
Introduction: motivation
• Experiment: a set of robots (acting as a swarm) and one person.
• The aim of robot-human squad: to explore an indoors area.
• Fire-fighters: – no sensing capabilities– no map of the building
![Page 4: An experiment on squad navigation of human and robots IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance January 7th-8th,](https://reader035.vdocuments.us/reader035/viewer/2022062421/56649d5f5503460f94a3f0fc/html5/thumbnails/4.jpg)
Introduction: statement of the problem
• Our system must be able to integrate:– Exploration and obstacle avoidance– Following the human and localizing itself
• Pose problem:– Tracking the human with the escorts lasers– Providing him with an accelerometer-
gyroscope-magnetometer (IMU)
![Page 5: An experiment on squad navigation of human and robots IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance January 7th-8th,](https://reader035.vdocuments.us/reader035/viewer/2022062421/56649d5f5503460f94a3f0fc/html5/thumbnails/5.jpg)
Introduction: related work
• Laser range finders:– To find and track humans– Detecting multiple moving objects, multiple humans
• Video data:– lack of visibility
• Localization, obstacle avoidance, path-planning– Adaptive Monte Carlo Localization Plus– Vector Field Histogram (VFH)– Nearness Diagram (ND)
![Page 6: An experiment on squad navigation of human and robots IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance January 7th-8th,](https://reader035.vdocuments.us/reader035/viewer/2022062421/56649d5f5503460f94a3f0fc/html5/thumbnails/6.jpg)
System configuration: HW setup
• Robots: mobile commercial platform Erratic from Videre-design– lasers readings, – encoder data,– sonar data,– imu data
![Page 7: An experiment on squad navigation of human and robots IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance January 7th-8th,](https://reader035.vdocuments.us/reader035/viewer/2022062421/56649d5f5503460f94a3f0fc/html5/thumbnails/7.jpg)
System configuration: HW setup
• Fire-fighter: laptop along with an imu sensor
![Page 8: An experiment on squad navigation of human and robots IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance January 7th-8th,](https://reader035.vdocuments.us/reader035/viewer/2022062421/56649d5f5503460f94a3f0fc/html5/thumbnails/8.jpg)
System configuration: SW setup
• Laptop will provide the fire-fighter – an estimation of his own pose– a new orientation and velocity to take
• Three roles in our
human-robot system
![Page 9: An experiment on squad navigation of human and robots IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance January 7th-8th,](https://reader035.vdocuments.us/reader035/viewer/2022062421/56649d5f5503460f94a3f0fc/html5/thumbnails/9.jpg)
System configuration: SW setup
• Logical scheme of the system
![Page 10: An experiment on squad navigation of human and robots IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance January 7th-8th,](https://reader035.vdocuments.us/reader035/viewer/2022062421/56649d5f5503460f94a3f0fc/html5/thumbnails/10.jpg)
Implementation: SW architecture
• Hardware Abstraction Layer (HAL) provided by the Player platform.
![Page 11: An experiment on squad navigation of human and robots IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance January 7th-8th,](https://reader035.vdocuments.us/reader035/viewer/2022062421/56649d5f5503460f94a3f0fc/html5/thumbnails/11.jpg)
Implementation: tracking
• Human being localization through only the laser rangefinder data
(,r): polar coordinates of the fire-fighter centroid
: threshold of distance
: angle of the reading
![Page 12: An experiment on squad navigation of human and robots IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance January 7th-8th,](https://reader035.vdocuments.us/reader035/viewer/2022062421/56649d5f5503460f94a3f0fc/html5/thumbnails/12.jpg)
Implementation: tracking
![Page 13: An experiment on squad navigation of human and robots IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance January 7th-8th,](https://reader035.vdocuments.us/reader035/viewer/2022062421/56649d5f5503460f94a3f0fc/html5/thumbnails/13.jpg)
Implementation: tracking
• Estimated global position and velocity of the fire-fighter: – Relative fire-fighter position and velocity– Robot’s own estimated position
and velocity.
• Formation rules:
![Page 14: An experiment on squad navigation of human and robots IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance January 7th-8th,](https://reader035.vdocuments.us/reader035/viewer/2022062421/56649d5f5503460f94a3f0fc/html5/thumbnails/14.jpg)
The experiment
• Partially tested in simulation• Robots guiding the
human through our department
• Human: only laptop information
• Collision free path• Occlusions along
the path
![Page 15: An experiment on squad navigation of human and robots IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance January 7th-8th,](https://reader035.vdocuments.us/reader035/viewer/2022062421/56649d5f5503460f94a3f0fc/html5/thumbnails/15.jpg)
Conclusion and future work
• We have validated the use of mobile platforms in hazardous environments as a support for human beings
• More robustness can be implemented:– Supporting more unstructured environments– Improving system reliability– Improving pose fusion and prediction– Online SLAM approach– Full Human Augmented Mapping (HAM) system