Maze Solving with an AIBO Bernard Maassen, Hans Kuipers, Max Waaijers & Andrew Koster 2005
Jan 15, 2016
Maze Solving with an AIBO
Bernard Maassen, Hans Kuipers, Max Waaijers &
Andrew Koster2005
Introduction Problem:
Maze Navigation Performed Research:
Theseus found his way out of the Labyrinth
Using IR for Maze Navigation, CMU www.cs.cmu.edu/~tekkotsu/media/pgss_2004_paper.pd
f
Many competitions Many geometric algorithms for edge
recognition and L-shapes Computational Geometry: Algorithms and Applications
Introduction
Why? Many aspects, like:
Vision World modeling Self localization
Socially relevant: Rescue robots need to navigate maze-like
environments
Problem Description
Maze Navigation 3 Problems:
Landmark detection Map construction AIBO uses map to solve maze
Collision prevention/detection
Landmark detection Edge detection using scanlines Only look below ‘horizon’
Landmark detection
Possible Intersections
Landmark detection
Possible Intersections
Landmark detection
Possible Intersections
Map construction
On each landmark update graph Remember
Type of landmark Current location
Use depth first search to explore Initially simple mazes, later on
more complex ones.
Complications
Maze contains loops Need to use distances as well as type
of intersection Different mazes
Curves 5-way intersections Other
AIBO uses map to solve maze
Random initial location in maze Use Bayesian filters to determine
most likely location Find exit
Possible problems
Missing landmarks Walking into walls Odometry not reliable
Backup plan
Reinforcement learning with joystick Simpler Uses joystick to train Uses odometry data in stead of vision
Milestone 1
Joystick walking Already in Tekkotsu Integrate into DARPA modules Collect odometry data
Milestone 2a
Control point if 2b is feasible If not extend Joystick module
Milestone 2b
Landmark detection Vision module Edge detection + scanlines Distinguish intersections
Milestone 3
Map construction Model world as topological map Self localization Walking through the maze
Milestone 4
Maze Solving Find place in world Use map to find path to exit Exit maze
Milestones
Milestone 1: 30-9 Milestone 2a: 19-10 Milestone 2b: 26-10 Milestone 3: 1-11 Milestone 4: 11-11
Vragen?