Download - Building Maps and Navigation for Autonomous Robots Arindam Khaled AI and Knowledge Based Sys II
Building Maps and Navigation for Autonomous Robots
Arindam KhaledAI and Knowledge Based Sys II
Purpose
• To design and implement an autonomous learning agent.
• To understand the difficulty, labor, and knowledge involved in designing an autonomous robot.– Hardware and software systems.– To study and understand a few theories on robot
navigation from the literature.
Project Goals
• Let the autonomous robot build map of the closed environment.
• Given the starting co-ordinate and end co-ordinate, devise a program such that the robot can navigate from its starting position to the destination.
• Later, once a working version is released upload this version in youtube and possibly publish a paper!
Architecture(hardware)• LEGO Mindstorm NXT toolkit.
– Primary components:• Three servo motors: Two to move the robot and one to rotate the sonar(s).• Sonar: Right now the robot has only one sonar. But one more sonar is planned
to be added for better readings.• Touch sensor: In case the sonars fail to detect an obstacle or the sonars are
pointed not towards the direction of the movement and an obstacle exists in that direction.
• Color sensor: A color sensor is planned to be used to determine the boundaries.
• Microcontroller: It executes the programs, controls the motors and receives data from the sensors.
• Bluetooth enabled PC: It will communicate with the robot’s microcontrolled.
Semi-Final Version
Software
• RobotC: It is used to create programs for the microcontroller.
• Anders’ Mindstorm: It is an open source software for LEGO Mindstorm. This will be used for bluetooth communication.
A high level process diagram for Building Maps
Navigation
• Use A* based, genetic, and other algorithms found in the literature as the time permits.
A novel concept (Most probably)
• If the current location is not predefined then use neural nets to detect the current location.
• If time permits then this approach will be further explored.
Knowledge
• The algorithms for map building and navigation, and the empirical evidence.
• In the neural nets.
References
• http://www.norgesgade14.dk/bluetoothlibrary.php
• http://www.nxtprograms.com/explorer/index.html