1 / 15

An experiment on squad navigation of human and robots

An experiment on squad navigation of human and robots. IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance. L. Nomdedeu, J. Sales, E. Cervera, J. Alemany, R. Sebastia, J. Penders, V. Gazi. January 7th-8th, 2008 - Benicàssim (Spain). Overview. Introduction

Télécharger la présentation

An experiment on squad navigation of human and robots

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. An experiment on squad navigation of human and robots IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance L. Nomdedeu, J. Sales, E. Cervera, J. Alemany, R. Sebastia, J. Penders, V. Gazi January 7th-8th, 2008 - Benicàssim (Spain)

  2. Overview • Introduction • System configuration • Implementation • The experiment • Conclusion and future work

  3. Introduction: motivation • Experiment: a set of robots (acting as a swarm) and one person. • The aim of robot-human squad: to explore an indoors area. • Fire-fighters: • no sensing capabilities • no map of the building

  4. Introduction: statement of the problem • Our system must be able to integrate: • Exploration and obstacle avoidance • Following the human and localizing itself • Pose problem: • Tracking the human with the escorts lasers • Providing him with an accelerometer-gyroscope-magnetometer (IMU)

  5. Introduction: related work • Laser range finders: • To find and track humans • Detecting multiple moving objects, multiple humans • Video data: • lack of visibility • Localization, obstacle avoidance, path-planning • Adaptive Monte Carlo Localization Plus • Vector Field Histogram (VFH) • Nearness Diagram (ND)

  6. System configuration: HW setup • Robots: mobile commercial platform Erratic from Videre-design • lasers readings, • encoder data, • sonar data, • imu data

  7. System configuration: HW setup • Fire-fighter: laptop along with an imu sensor

  8. System configuration: SW setup • Laptop will provide the fire-fighter • an estimation of his own pose • a new orientation and velocity to take • Three roles in our human-robot system

  9. System configuration: SW setup • Logical scheme of the system

  10. Implementation: SW architecture • Hardware Abstraction Layer (HAL) provided by the Player platform.

  11. Implementation: tracking • Human being localization through only the laser rangefinder data (,r): polar coordinates of the fire-fighter centroid : threshold of distance : angle of the reading

  12. Implementation: tracking

  13. Implementation: tracking • Estimated global position and velocity of the fire-fighter: • Relative fire-fighter position and velocity • Robot’s own estimated position and velocity. • Formation rules:

  14. The experiment • Partially tested in simulation • Robots guiding the human through our department • Human: only laptop information • Collision free path • Occlusions along the path

  15. Conclusion and future work • We have validated the use of mobile platforms in hazardous environments as a support for human beings • More robustness can be implemented: • Supporting more unstructured environments • Improving system reliability • Improving pose fusion and prediction • Online SLAM approach • Full Human Augmented Mapping (HAM) system

More Related