Mobile robot mapping and navigation Progress Report

1
Mobile robot mapping and navigation - Progress
Report -

• Marin Kobilarov
• Trinity College, Computer Science
• Senior Seminar
• Spring 2003

2
Intro

• Mobile robot applications
• Personal assistants
• Hazardous site exploration and rescue
• Space exploration
• Many more
• Mapping
• knowledge of environment
• Navigation
• path planning
• collision avoidance
• fast re-planning
• Mapping Navigation ? Autonomous Mobile
  Platforms

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Goals

• Develop mapping and navigation system
• Indoor office like environment
• Mobile robot on wheels w/ proximity sensors
• Implement existing state-of-the-art mapping
  algorithms
• Attempt to design an optimal hybrid algorithm
• Integrate mapping and navigation on a real robot

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Timeline

• Simulation software done
• Localizatoin Algorithms done
• Existing Mapping Algorithms done
• Hybrid Mapping Algorithm done
• Path Planning done
• Exploration in-progress
• System Integration and Testing in-progress
• System implementation on a real robot 1 week

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Localization

• Markov Localization
• Particle Filters

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Existing Mapping

• Occupancy Grids
• Incremental ML
• Expectation Minimization

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Hybrid Approach

• Hybrid w/ Markov Localization
• Hybrid with extended local EM alignment
• HELEMA w/ Particle Filters

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Path Planning

• Value Iteration
• Modified Value Iteration
• Modified D Value Iteration
• Multiple goals
• Occupancy Grid
• Potential Fields for obstacle clearance