Navigation and obstacle avoidance system for side-walk mobile robot Pakorn Udsatid 5370454421 Advisor: Nattee Niparnan, Ph.D. 1.

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Navigation and obstacle avoidance system for side-walk

mobile robot

Pakorn Udsatid5370454421

Advisor: Nattee Niparnan, Ph.D.

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Outline

IntroductionRelated worksProblemEtc.

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Robots – traditional

http://malct32.blogspot.com/2011/06/developed-economy-generates-more-jobs.html

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OfficeTour guideSupermarketAutonomous wheelchair

[H. Asoh et al.,01] [A. Clodic et al.,06]

[S. Nishimura et al.,07; M. Goller et al.,10] [Y. Kobayashi et al.,09]

Robots – brand new

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Characteristics

make people feel comfortable

cooperate with people; move Nice!

http://www.theage.com.au/news/technology/the-future-is-here/2006/11/05/1162661536462.html

http://5magazine.wordpress.com/2011/02/18/roila-the-robot-interaction-language/

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Person following vs side-walk

http://www.superstock.com/stock-photos-images/1889R-23044

[R. Gockley et al.,07]

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Person following vs side-walk

http://www.flickr.com/photos/21617980@N05/2099285668

http://www.fastcompany.com/1587924/robots-cody-manipulator-hands-balancing-georgia-tech-healthcare-home-robot

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friendly

Person following vs side-walk

Robotic Wheelchair Based on Observations of People UsingIntegrated Sensors [Y. Kobayashi et al.,09]

86 % of people prefer robot to move

side by sideeasy to

talkfrank

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Person following vs side-walk

Robotic Wheelchair Based on Observations of People UsingIntegrated Sensors [Y. Kobayashi et al.,09]

http://www.youtube.com/watch?v=3xXhnJuPlV4

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To develop a robot system which is able to move side-by-side person

Goal

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Develop system for robot including

avoid

obstacle

s

walk

beside

person

Person tracking

Navigation

Our problem

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System Overview

Robot

Person tracking

Obstacle detection

Navigation

Sensor

measurement data

Person position Obstacles position

Robot control

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Using camera

[C. Schlegel et al.,98]

[W. Zajdel et al.,05]

[T. Yoshimi et al.,06]

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Using LRF

[D. F. Glas et al.,07]

[J. H. Lee et al.,06]

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Sensors

sensor data type

price accuracy

Laser Range Finder

range expensive

High

camera image vary moderate

http://www.lopburi1.go.th/school/banchee/input_page_type.html

http://robotics.cs.umass.edu/?n=Main.RoboticsLabFacilities

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Kinect

http://www.arip.co.th/news.php?id=411497

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Kinect

Advantage depth image affordable priceDisadvantage narrow field of view not robust to sunlight

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System Overview

Robot

Person tracking

Obstacle detection

Navigation

Sensor

measurement data

Person position Obstacles position

Robot control

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Person tracking

[A. Carballo et al.,08]

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System Overview

Robot

Person tracking

Obstacle detection

Navigation

Sensor

measurement data

Person position Obstacles position

Robot control

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Navigation

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Navigation

[S. S. Ge and Y. J. Cui,02]

[Cao Qixin et al.,06]

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Objective

To develop a robot system which is able to move side-by-side person and avoid obstacles and uses kinect as sensor

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Proposed method

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Set up

Person

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Challenge

Kinect as sensor field of view, sunlight which person model?

Move beside person changing direction obstacles Differential drive robot

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System Overview

Robot

Person tracking

Obstacle detection

Navigation

Sensor

measurement data

Person position Obstacles position

Robot control

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Person tracking

use data at 2 levels

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Person tracking

PredictObservationUpdate

Kalman filter

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System Overview

Robot

Person tracking

Obstacle detection

Navigation

Sensor

measurement data

Person position Obstacles position

Robot control

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Navigation

Virtual force field

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Evaluation

Tracking

Avoiding obstacles

Person’s feeling

Measure robot’s path and compare with ground truth data

Avoid static objects

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Scope

Deliver robot systemUse kinect as only kind of sensorConduct experiment in indoor No clutter in workspace

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Work plan

Study the works in the related fieldsDevelop a new methodTest the systemEvaluate and summarize the resultConclude the research, Write a thesis

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Thank you.