A map is currently hand drawn by the operator for the motion of the guide vehicle. Matsuo and miura 15 suggested a method to track the robot state using monte carlo localization. An intelligent mobile robot navigation technique using. Autonomous indoor robot navigation using a sketch interface for drawing maps and routes federico boniardi abhinav valada wolfram burgard gian diego tipaldi abstract hand drawn sketches are natural means by which abstract descriptions of environments can be provided.
To address this goal, we have been investigating the use of handdrawn route maps to transfer navigation tasks to robots. Shortest path through unoccupied regions are generated to move the robot towards unexplored terrain. Introduction robot navigation is one of the most studied problems in robotics and the key capability for robot autonomy. Pdf autonomous indoor robot navigation using a sketch interface. The roomba 980 is a pretty big deal for irobot, and its a pleasant surprise to see so much new technology packed into one robot vacuum. Robot navigation includes different interrelated activities such as perception obtaining and interpreting sensory information. In this research, the authors proposed a pomdp based approach to learn a metrical conversion map path s g fig. Although navigation in hand drawn maps has been recently addressed in research, very few works have investigated the possibility of extending a standard navigational system that relies on robot pose tracking in the hand drawn map. Two major components of the paper deal with indoor navigation and outdoor navigation. An approach to highlevel interaction with autonomous robots by means of schematic maps is outlined.
The mathematics of aircraft navigation thales aeronautical. They represent weak prior information about the scene, thereby. Moreover, changing the route of a robot or taking a new working area into use must be as effective as possible. Realtime map manipulation for mobile robot navigation. The inconsistency caused by timevarying environmental information is a bottleneck for the development and.
The robot is taught the cruise route during onsite assembly. Each of these two levels require both a planning and an execution phase. The mathematics of aircraft navigation thales aeronautical engineering uk aircraft navigation is the art and science of getting from a departure point to a destination in the least possible time without losing your way. Finally in section iv, we present the results from our experimental evaluation, both in terms of the autonomous navigation capability of the robot and from the usability perspective of the interface. Hand drawn maps for robot navigation marjorie skubic, sam blisard, andy carle, and pascal matsakis dept. Robot navigation in handdrawn sketched maps request pdf. Monte carlo localization in handdrawn maps bahram behzadian pratik agarwal wolfram burgard gian diego tipaldi abstractrobot localization is a one of the most important problems in robotics. Kak abstractthis paper surveys the developments of the last 20 years in the area of vision for mobile robot navigation. This paper addresses the applicability of neural maps to mobile robot navigation with focus on ef.
Learning metrictopological maps for indoor mobile robot. Slam map created by driving the robot around the space. Using sketchmaps for robot navigation aass mobile robotics. This is probably the most important robot that irobot. If you are a pilot of a rescue helicopter, you need to know the following. Currently, most of the mobile robots used in operational settings rely on teleoperated control using live. Objectness measure, handdrawn map, robot navigation, image segmentation, saliency map. Outdoor navigation of a mobile robot 2015 page 2 the current project is focused towards developing, an intelligent outdoor navigation system for the phaethon robot, at the university of siegen, germany. Roboticsnavigationmapping wikibooks, open books for an. Silviano torres, anthony linarez, chris bowles, alex torres mentor. Towards camera based navigation in 3d maps by synthesizing.
On the other hand, in the robot navigation problem, the robot gathers information about the environment while it is moving. Chronis, g 2007 sketchbased navigation for mobile robots using. Examples of metric maps are shown in various places in this paper. In this paper, we present a novel approach for a camerabased localization in 3d maps that might be useful for a variety of navigation problems. Sketch maps, on the other hand, usually correspond to the linear flow of speaking and drawing and frequently to the temporal sequence of route traversal.
Pdf handdrawn maps for robot navigation semantic scholar. The indoor mobile robot navigation presented in 6 uses a global ultrasonic system for the robots position estimation while navigating in an environment. The operator will be able to assist the robot in identifying obstacles that the latter cannot perceive through its sensors. A fair amount of work has been done with the robot navigation problem when the goal is known a priori.
State information is extracted from the drawing in the form of relative, robotcentered spatial descriptions, which are used for task representation and as a navigation language between the human user and the robot. We provide opensource programs that show basic concepts, simple io control operations, and complex systems. A handdrawn mapbased navigation method for mobile robots. Navigation and target tracking are to be performed using a microsoft xbox kinect sensor which provides rgb color and 3d depth imaging data to an x86 based computer onboard the robot running ubuntu linux. Extracting navigation states from a handdrawn map core. Thrun, s learning metrictopological maps for indoor mobile robot navigation. Federico boniardi, barham behzadian, wolfram burgard, gian diego tipaldi robot navigation in handdrawn sketched maps proc. A qualitative path planner for robot navigation using human. These requirements set new challenges for the navigation systems of mobile robots. Pdf mobile robot navigation and obstacle avoidance. Robot navigation means the robots ability to determine its own position in its frame of reference and then to plan a path towards some goal location.
In this thesis, a novel method known as the evolutionary algorithm for scene matching easm has been proposed for accomplishing this task. Autonomous indoor robot navigation using sketched maps. Getting the map in advance works fine in a static environment. Although navigation in handdrawn maps has been recently addressed in research, very few works have investigated the possibility of extending a standard navigational system that relies on robot pose tracking in the handdrawn map. Code for finding where the robot is and how it can get somewhere else. Autonomous indoor robot navigation using sketched maps and routes aisrobots. Slam maps have two properties that make them unnatural for humans. Navigation techniques have become more and more reliable, but evaluation mainly focused on individual navigation components i. In order to navigate in its environment, the robot or any other mobility device requires representation, i. A handdrawn mapbased navigation method for mobile robots using objectness measure jie niu1 and kun qian2 abstract correct cognition of the environment is the premise of mobile robots to realize autonomous navigation control tasks. In order to address the robot navigation problem, a mapbased robot navigation interface rni was created, which would allow the human operator to manipulate the robots map in realtime.
After having reached the areana, the searchers will start their fully autonomous operations. The rtk gps system, imu sensor, and 2d laser scanner will be integrated with the robot. A fuzzy logic controller to be implemented on the computer is considered for control. The sketch interface the sketch interface was designed to run on a tablet or. One of the basic methods of building a free ranging navigation system is to. Mobile robot navigation in a prelearned domain is easily decomposed into a global navigation problem and a local navigation problem. The position of the robot is constantly monitored and errors are corrected. Access rights manager can enable it and security admins to quickly analyze user authorizations and access permission to systems, data, and files, and help them protect their organizations from the potential risks of data loss and data breaches. In the paper, we provide an overview and current status of ongoing work with sketches.
Using a handdrawn sketch to control a team of robots center for. Abstractwe present a study on sketchmap interpretation and sketch to robot map matching, where maps have nonuni form scale, different shapes or can be. The multi robot navigation and mapping for combat environment project will safely enable a robot to navigate through an indoor or outdoor urban combat environment. The human hand is composed by 27 different bones and the opposing thumb is characteristic. In this work we propose the use of handdrawn sketch maps as a mean for interaction between humans and robots, when no prior geometric map of the. Researchers have also aimed to automate matching of a hand drawn map to a slam or other automatically generated map for the purposes of navigation 4, 11, 12. To address this goal, we have been investigating the use of hand drawn route maps to transfer navigation tasks to robots. Request pdf robot navigation in hand drawn sketched maps many navigation systems for mobile robots use ametrical map for localization and trajectory planning. Mobile robot navigation and obstacle avoidance techniques. Slam simultaneous localization and mapping is a technique used by robots and autonomous vehicles to build a map within an unknown environment, or to update a map within a known environment, while keeping track of. Learning maps for indoor mobile robot navigation 5 3. To find routes efficiently a robot has to know its surroundings. A comparison of robot navigation algorithms for an. Multi robot navigation and mapping for combat environment.
Robot navigation in handdrawn sketched maps autonome. Autonomous indoor robot navigation using sketched maps and. Either the robot has the memory and tools for it and draws its own map, gets its map in advance or get a partial map e. Most of the existing approaches assume that the map of the environment is available beforehand and focus on accurate metrical localization. Autonomous indoor robot navigation using a sketch interface for drawing maps and routes federico boniardi abhinav valada wolfram burgard gian diego tipaldi abstracthanddrawn sketches are natural means by which abstract descriptions of environments can be provided. Neural maps have been recently proposed 4 as an alternative method for mobile robot path planning. Request pdf on mar 31, 2010, siriyaporn sangaroon and others published development of a hand drawn maps program for robot navigation using pdas find, read and cite all the research you need on. During the actual robot use, he should focus on the task to be done rather than worrying about the robot or the interaction modality. Depth camera based indoor mobile robot localization and. The goal of this work is to perform scene matching between a sketched map and the scene depicted by the sketch, e. This site is focused on creating applications that use the unmodified lego firmware. An experimental protocol for evaluating autonomous navigation systems in indoor environments.
Benchmark for robotic indoor navigation microsoft research. A sensitivity analysis is performed to study how map distortions, sensor. Using a remote control or a tablet, the deploymentintegration engineer guides the robot along all possible passage routes in manual mode. Handdrawn maps for robot navigation marjorie skubic, sam blisard, andy carle, and pascal matsakis dept. However, these proposals are mostly theoretical and primarily concerned with biological plausibility.
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