1 / 23

Autonomous Localization & Navigation using 2D Laser Scanners

Autonomous Localization & Navigation using 2D Laser Scanners. Animesh Garg & Manohar Paluri. Outline. Problem Description Motivation Previous research Proposed approach Details of our approach Testing Results Conclusion. Why an autonomous painting system is required?. Introduction.

june
Download Presentation

Autonomous Localization & Navigation using 2D Laser Scanners

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Autonomous Localization & Navigation using 2D Laser Scanners Animesh Garg & ManoharPaluri

  2. Outline • Problem Description • Motivation • Previous research • Proposed approach • Details of our approach • Testing • Results • Conclusion

  3. Why an autonomous painting system is required?

  4. Introduction The Omnimove is a huge platform for moving very heavy weights around. Herein it would hold the robotic arm which will be used to carry out the painting job. During spray painting process, the environment has a very large concentration of paint particles decreasing visibility. And the paint settles on surfaces, it rules out markers based solution.

  5. Potential Solutions • Cameras • GPS • INS • Sonar • Laser • Northstar • Vicon • And more…

  6. Our solution • Laser Scanners • Cost effective, Reliable, Accurate, known solutions! • Paint Hangar constraints Sample Mount

  7. Past Work

  8. Line Fitting

  9. Block Diagram

  10. Rigid Transformation • Scan1 Scan2 • Combined Scan

  11. Hough Transform

  12. Non-Uniform Density

  13. Weighted Hough Transform

  14. Find Maximas

  15. Total Least Squares

  16. Line Fitting

  17. Localization

  18. Obstacle Map

  19. Obstacle Detection

  20. Planning - RRT

  21. Navigation

  22. Future Scope

  23. Thank You

More Related