1 / 5

16-735 Project Progress Presentation Coffee delivery mission

16-735 Project Progress Presentation Coffee delivery mission. Dec, 10, 2007 NSH 3211 Hyun Soo Park, Iacopo Gentilini. What we have done. Mapping A-floor corridors map from sonar sensor Motion control Way point local planner Path planning with D* algorithm

toya
Download Presentation

16-735 Project Progress Presentation Coffee delivery mission

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. 16-735 Project Progress PresentationCoffee delivery mission Dec, 10, 2007 NSH 3211 Hyun Soo Park, IacopoGentilini

  2. What we have done • Mapping • A-floor corridors map from sonar sensor • Motion control • Way point local planner • Path planning with D* algorithm • Grid base algorithm with 4 connectivities • Dynamic obstacle detection and rebuilding map from sonar sensor • Kalmanfiletering with Sonar sensor • Current position estimation • Image processing with camera vision synchronize • Deterministic current position and orientation synchronization

  3. Strengths and weaknesses • Motion control • low sliding due to reduced velocity • big angular movements • Path planning with D* algorithm • quick computation on the robot pc • coarse grid resolution forced to use 4 neighbors • Kalmanfiletering with Sonar sensor • effective tool to filter noisy sonar data • Image processing with camera vision synchronize • high precision in “good regions” but big errors outside these areas

  4. Demo video

  5. Result

More Related