Autonomous Navigation and Localization in Service Mobile Robotics

Autonomous Navigation and Localization in Service Mobile RoboticsPresented by: Priteem Ranjan Behera1411MT09MechatronicsExtracts from: Autonomous Navigation and Localization in Service Mobile Robotics.Maurizio Piaggio, Antonio Sgorbissa, Renato ZaccariaD.I.S.T., University of Genoa, Via Opera Pia 13,I-16145 Genova, ItalyProceeding of the 2001 IEEE/RSJInternational Conference on Intelligent Robots and SystemsMaui, Hawaii, USA, oct 29 -NOV. 03,2001

Background OverviewProblem : Autonomous navigation and localization in indoor environmentsApplication : Service robotsMethod : Use of active beacons Objective : To plan and execute target-oriented navigation tasksIntroduction Task : To operate continuously within a human populated environment for carrying out different tasks such as surveying and transportationProblems faced: Environment may change in time and spacePersons and objects moveRequirement of alternate pathsAsynchronous mission requestSelf-diagnosisPower management

Existing techniquesBased on natural landmarks recognition and map matchingAdvantage :features are naturally present in the environmentProblem : recognition strongly depends on the limits of the current technology in artificial visionmap matching performances rapidly degrade in highly dynamic, human populated environments

Existing techniquesUse of triangulation algorithmsProblem :Critical configurationRobot should not move while laser beam is looking for beacons

Proposed solutionBeacon-based localization is formalized as a position-tracking problemExtended Kalman Filter is employed to combine the information provided by odometry and DLPS

Dlps-distributed local positioning system

6Experimental resultsExperimental results proved to be successful with the proposed solution ,both in stationary and mobile conditionReference Autonomous Navigation and Localization in Service Mobile Robotics.Maurizio Piaggio, Antonio Sgorbissa, Renato ZaccariaD.I.S.T., University of Genoa, Via Opera Pia 13,I-16145 Genova, ItalyProceeding of the 2001 IEEE/RSJInternational Conference on Intelligent Robots and SystemsMaui, Hawaii, USA, oct 29 -NOV. 03,2001