Coverage Efficiency in Autonomous Robots With Emphasis on Simultaneous Localization and Mapping Mo Lu Computer Systems Lab 2009-2010 Final Version - PowerPoint PPT Presentation

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Coverage Efficiency in Autonomous Robots With Emphasis on Simultaneous Localization and Mapping Mo Lu Computer Systems Lab 2009-2010 Final Version

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Title: Coverage Efficiency in Autonomous Robots With Emphasis on Simultaneous Localization and Mapping Mo Lu Computer Systems Lab 2009-2010 Final Version


1
Coverage Efficiency in Autonomous Robots With
Emphasis on Simultaneous Localization and
Mapping Mo Lu Computer Systems Lab 2009-2010
Final Version
2
Introduction
  • Coverage Efficiency is a key point in programming
    autonomous systems
  • Project approaches CE using SLAM
  • Using SLAM, a autonomous system will be able to
    map and process an environment to minimize
    resource use in runtime

3
Background
  • Modern commercial autonomous lawnmowers and
    inefficiency
  • Random cuts and turns
  • Dummy sensing
  • Problems of runtime v. coverage

4
(No Transcript)
5
SLAM Theory
  • Scan for obstacles via laser scanner or similar
    device
  • Update scans until entire map can be created, ie
    all boundaries and obstacles connect
  • Create obstacle and boundary map using scan
    outputs
  • Analyze map via recursive run-through to
    determine most efficient path
  • Run optimal path on subsequent runthroughs

6
Serious Business Project Work
  • Matrix-based environment simulation
  • Environment is pre-created, obstacles, boundaries
    and size have been set
  • Robot keeps track of location
  • Pings in 180 degree field of vision
  • Returned data forms obstacle map
  • Map is cross checked with environment for
    accuracy
  • Results indicate that the scanning and mapping
    code works with various obstacles

7
Setup
8
Simulation Results
9
Simulation Runtimes (3 Continuous Obstacles,
Randomly Placed)
10
Discussion Cont.
  • Adapted parts of the simulation code for use with
    the laser scanner
  • Specifically, that means the scanning parts of
    the code, since the robot is not self-propelling
    yet
  • Manual movement of the scanner is being used in
    lieu of motors
  • Can scan part of a constructed environment given
    hand rotations

11
Setup
12
Scanner in Action
13
Scanner in Action
14
Laser Rangefinder Results
15
Results Cont.
16
Robot
17
Conclusions and Future Applications
  • Scanning works, with a given flat elevation
  • Adapt simulation for terrain types (unmowable v.
    mowable grounds, different elevations)
  • More runtime analysis
  • Need to address more realistic conditions
  • -Power sources
  • -Complex polygonal navigation
  • Integrate program with robot, so testing on
    movement, mapping, and keeping coordinates can be
    done
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