Study on Mobile Robot

Navigation Techniques
Presenter: 林易增
2008/8/26
• 1.Introduction
• 2.Localization and Map-building
• 3.Local and Global Navigation
• 4.Command Arbitration
• 5.Integrated Approaches
 1.Introduction
• Goal
– Reaching a destination.
– Following a trajectory.
– Exploring and mapping an area.
• Subtask
– Identifying the current location.
– Avoiding any collisions.
– Determining a path.
– Resolving any conflicts between the previous
two subtasks.
• Two categories of mobile robots
– Holonomic
http://tinyurl.com/5d3c76
– Non-holonomic
• 1.Introduction
• 2.Localization and Map-building
• 3.Local and Global Navigation
• 4.Command Arbitration
• 5.Integrated Approaches
2. Localization and Map-building
• Localization
– Identify the robot’s position in the environment.
• Map-building
– construct an internal model of any unknown
features in the environment.
• Simultaneous localization and mapping
(SLAM).
• Metric techniques.
• Topological techniques.
Cell-based techniques
Cell-based techniques
Cell-based techniques
 Cell-based techniques
• Problem of Cell-based techniques.
– Range sensors are vulnerable to false echo.
– Vehicles are prone to drift and slippage.
 Cell-based techniques
• The Certainty Grid
 2.2Topological Approaches
• Topological techniques rely on place
recognition to localize a robot.
• Distinguishable place represented by node.
 2.2Topological Approaches
• 2.2.1 dropped makers at each node.
• 2.2.2 used the distances to obstacles as
identifying characteristics.
• 2.2.3 using a panoramic vision system.
 2.2Topological Approaches
• 2.2.3 using a panoramic vision system.
– system must be trained
– Image retrieval
• 1.Introduction
• 2.Localization and Map-building
• 3.Local and Global Navigation
• 4.Command Arbitration
• 5.Integrated Approaches
 3.Local and Global Navigation
• Local Navigation
– Robots rely only on current or recent sensor
data.
– Avoid collision.
– Tends to fail in deadlock.
• Global Navigation
– Broader objective.
– Long-range path.
 3.1Local Navigation

• 3.1.1 Rule-base
• 3.1.2 Artificial Potential Field (APF)
• 3.1.3 The Virtual Force Field (VFF)
• 3.1.4 the vector field histogram (VFH)
 3.1Local Navigation
• 3.1.3 The Virtual Force Field (VFF)
– Differ from the certainty grid in the way it is
built and updated.
– Only one cell is incremented for each range
reading.
 3.1Local Navigation
• 3.1.3 The Virtual Force Field (VFF)
 3.1Local Navigation

3.1.3 The Virtual Force Field (VFF)

 3.1Local Navigation
• Shortcoming of the VFF
– Obstacles were places at least 1.8m apart.
– When position changes from one cell to
another.
 3.1Local Navigation
• Three levels of data representation
– Highest：identical to VFF.
– Intermediate：a one-dimensional polar array
H.
– Lowest：the values for the drive and steer
controllers of the vehicle.
 3.1Local Navigation
3.1.4 the vector field histogram
 3.1Local Navigation
Example of an obstacle course
 3.1Local Navigation
The corresponding histogram grid representation
3.1Local Navigation
 3.1Local Navigation
3.1.4 the vector field histogram
 3.2Global Navigation
• The objective of global navigation is to find
an optimal path.
• 3.2.1 brute-force.
• 3.2.2 improvement of the brute-force.
• 3.2.3 probabilistic techniques
• 1.Introduction
• 2.Localization and Map-building
• 3.Local and Global Navigation
• 4.Command Arbitration
• 5.Integrated Approaches
 4.Command Arbitration
• 4.1 layerd control system
• 4.2 Distributed Architecture for Mobile
Navigation (DAMN).
• 1.Introduction
• 2.Localization and Map-building
• 3.Local and Global Navigation
• 4.Command Arbitration
• 5.Integrated Approaches
 5.Integrated Approaches
• Motion problem can be considered as a
single task.
• Challenging becomes computation
intensive.