1 / 18

The Office Marathon: Robust Navigation in an Indoor Office Environment

The Office Marathon: Robust Navigation in an Indoor Office Environment. Marder-Eppstein, Eitan , Berger Eric , Foote Tully , Gerkey Brian P. , and Konolige Kurt International Conference on Robotics and Automation, 2010 Zhou Xin 2011.5.13. The authors come from…. Willow Garage, Inc.

mckile
Download Presentation

The Office Marathon: Robust Navigation in an Indoor Office Environment

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. The Office Marathon:Robust Navigation in an Indoor Office Environment Marder-Eppstein, Eitan, Berger Eric, Foote Tully, Gerkey Brian P., and Konolige Kurt International Conference on Robotics and Automation, 2010 Zhou Xin 2011.5.13

  2. The authors come from… • Willow Garage, Inc. • http://www.willowgarage.com • working on • Perception • Motion planning • Navigation • Hardware integration • Simulation • Visualizers • And more…

  3. Outline • Problem Description • Key Challenge • Platform • Approach • Experimental Results • Conclusion

  4. Problem Description • Reachable goal • Unmodified office-like environment • Autonomous navigation • Avoiding obstacles • Robot can’t step over • 3D Obstacles • Can change location

  5. Problem Description • Rounding a blind corner -Unknown space • Cluttered environment • -Various obstacles

  6. Outline • Problem Description • Key Challenge • Platform • Approach • Experimental Results • Conclusion

  7. Key Challenge • Detecting and Avoiding • The non-trivial 3D structure obstacles

  8. Outline • Problem Description • Key Challenge • Platform • Approach • Experimental Results • Conclusion

  9. Platform • 8-wheeledomni-directionalbase • 2Laserscanner • ROS(RobotOperationSystem)

  10. Outline • Problem Description • Key Challenge • Platform • Approach • Experimental Results • Conclusion

  11. Approach • A. Sensor Processing Pipeline • Sensor is imperfect • Accuracy: 1.5cm • Random SAmple Consensus (RANSAC[1] ) algorithm

  12. Approach • Core—Voxel Grid • Each cell in Grid • Occupied • Free • Unknown • Two dimensional array of 32-bit • Operations • Marking • Clearing(Bresenham[2])

  13. Approach--Policy • Entrapment • In-placerotation • Clearobstacles • Recharging • Emailaplug-inandunplugrequest.

  14. Outline • Problem Description • Key Challenge • Platform • Approach • Experimental Results • Conclusion

  15. Experimental Results Table 1. Results for the experiment environments both in simulation and the real world

  16. Outline • Problem Description • Key Challenge • Platform • Approach • Experimental Results • Conclusion

  17. Conclusion • A robust navigation system is proposed • Use efficient Voxel-based 3D mapping • Limitation: • Can not fully get rid of FALSENEGATIVES. • Can’tdetectingwhenitisstuck.

  18. REFERENCES • [1] M. Fischler and R. Bolles, “Random Sample Consensus: A Paradigm for Model Fitting with Application to Image Analysis and Automated Cartography,” Communications of the ACM, vol. 24, pp. 381–395, 1981. • [2] J. Bresenham, “Algorithm for computer control of a digital plotter,” IBM Systems J., vol. 4, no. 1, pp. 25–30, 1965.

More Related