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16-735 Project Proposal Coffee delivery mission

16-735 Project Proposal Coffee delivery mission. Oct, 3, 2007 NSH 3211 Hyun Soo Park, Iacopo Gentilini. Problem definition. Sensor based robot delivers coffee to start position to goal position.

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16-735 Project Proposal Coffee delivery mission

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  1. 16-735 Project ProposalCoffee delivery mission Oct, 3, 2007 NSH 3211 Hyun Soo Park, IacopoGentilini Robotic Motion Planning 16-735 Potential Field Techniques

  2. Problem definition • Sensor based robot delivers coffee to start position to goal position. • Map robot built may differ from actual situation which means the obstacles which move slower than robot can be appeared. • Data obtained by sensors may not be exact. • There may be a lot of uncertainties. Suggested solution • - At first, robot builds map with perfect position data. • The robot plans map using D* search. • The robot updates current position and states from landmarks using Kalman filter.

  3. Kalman Filtering (SLAM) Estimator Correct Predict LQ input (optimal) Robot Demo - After map building, robot follows its path to the goal but if it faces any unexpected obstacles, the robot avoids it dynamically. Division of works • Hyun Soo Park : Path planning using D* algorithm and map building • IacopoGentilini : Image ultrasonic sensor data processing • Together : Kalman filtering

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