mobile robotics @ labrob a short introduction
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Mobile Robotics @ LabRob A short introduction. Basilio Bona Michele Bongiovanni Laboratorio di Robotica Dipartimento di Automatica e Informatica Politecnico di Torino. Overview. Why mobility? Applications Approaches Solutions LabRob activity. Why mobility?. - PowerPoint PPT PresentationTRANSCRIPT
Mobile Robotics @ LabRobA short introduction
Basilio BonaMichele Bongiovanni
Laboratorio di RoboticaDipartimento di Automatica e Informatica
Politecnico di Torino
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Overview
• Why mobility?• Applications• Approaches• Solutions• LabRob activity
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Why mobility?
•Increased number of degrees of freedom
• challenging tasks that require displacement abilities.
•Autonomy•Human- (animal-) like behaviors
• Helpers or substitutes for stressing/dangerous tasks
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Applications fields - 1•Hospitals/Airports/
Home• (Semi)Autonomous wheel-chairs
• Assistants• Vacuum cleaners• Toys
•Requirements• Robustness• User friendly human-machine interface
• Environment sensing
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Applications fields - 2•Military
• Mine finder• Flying sentinels• Soldiers (????)
•Requirements• SLAM• Team paradigm• Communication• Reliable sensory systems and fusion
• Reliable hardware• Real-time software
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Applications fields - 3•Scientific/industrial
explorations• Pyramid project• Pipelines• Underwater• Space
•Requirements• Scalability• Adaptativity• Reliable sensing• SLAM• Remote controller systems
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Application fields - 4• Bio-inspired
• Insects (the great part)• Flies• Ants• Spiders• Bugs
• Fish
• Requirements• Microtechnologies• Low-level coding• Swarm paradigm
• Redundancy strategies• Cooperation/
communication• “Natural” behaviors
• NN controllers• Artificial intelligence
• Coherence with reality
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Application fields - 5 -
•ROBOT SOCCER• World wide robotic research promotion
•Requirements• Synchrony• Communication• High sensing skills
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Approach
BehaviorsInteractionsEnvironmentRobotstructure
Modelling
Simulations
Real worl
d
Real robotprogramming
Resultvalidation
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Model based VS behavioral basedcontroller design
•Model based• Dynamic continuous/discreet equations• Accurate mathematical model• Predictions and equilibria
•Behavior based• Events and interaction rules• High dimension and noisy system• Blocks description• Mathematics hidden in high-level structures
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Approach
BehaviorsInteractionsEnvironmentRobotstructure
Modelling
Simulations
Real worl
d
Real robotprogramming
Resultvalidation
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Solutions from simulated to real world
•“by hand” coding• No share of resources between simulation software and hardware
•Automatic coding • Fast prototyping techniques• Hardware in the loop
•Hybrid• Custom code embedding
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LabRob activity -1- RESEARCH•Fast prototyping using Simulink and the
Real Time Workshop• Design of real-time embedded controllers• Code porting on unsupported/custom architectures
• Model based VS behavioral based controllers analysis and comparison (e.g. Simulink VS Stateflow)
•Sensor fusion env. Mapping (SLAM)• InfraRed sensors (short distances < 4 m )• Sonar sensors (long distances < 3 m)• Video cameras
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LabRob activity -2- RESEARCH•Algorithms of features extraction from acquired
images (colors, shapes, distances)
•Evolution/dynamics of communication emergence among simulated agents
• Signal “grounding”• Communication means
• Audio waves• Radio waves (which one?)• Light
•Web learning and remote robot controller• Java (or equivalent) web interface• Radio communication host-robot link• Drive-by-cameras
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• 2 x Khepera robot base (MC68331) with sonars and radio turrets
• 1 x PAL Color camera
• 1 x SoccerBot (MC68331) with sonars, color camera, radio system, kicker and LCD display.
• 4 x Devantech sonars
LabRob Activity -3-AVAILABLE HARDWARE
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•MATLAB• Simulink• Stateflow• Real Time WorkShop
•RTOS• VxWorks• Qnx• RTAI• Robots’ embedded operating systems.
•Webots (Khepera and family robot simulator)
LabRob Activity -3- AVAILABLE SOFTWARE
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Useful links
http://www.ladispe.polito.it/robotica/Labrob/indexen.htm
http://www.polito.it/
http://www.k-team.com
http://www.joker-robotics.com/eyebot/
http://www.mathworks.com/products/rtw/
http://www.robot-electronics.co.uk/shop/Ultrasonic_Rangers1999.htm
http://www.cyberbotics.com/products/webots/
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?? QUESTIONS ??
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Coming next… LADISPE di AUTOMATICA
10:30-12:30 12:30-14:30
LUN 14/03 BONFITTO, CARDELLINO, CAVALERA, CERUTTI, CHIONO, COCONDI, CORATELLA, CORSIATTO, DANNA, DE GIUSEPPE
DEDOLA, DEIRO,FAVOT, FELE, FICILI, FILIPE, FRASSY, GRASSINO, IMPINNA, KAOUK
MER 16/03 LAFFRANCHI, MATTIO, PAOLELLA, PEIRANO, PONSETTI, PRIMAVERA, SAGLIA, SARRACINO, SEVERINO, ZANCANER, PEREZ, HUI KIT