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16-735 Project Progress Presentation Coffee delivery mission

16-735 Project Progress Presentation Coffee delivery mission. Dec, 10, 2007 NSH 3211 Hyun Soo Park, Iacopo Gentilini. What we have done. Mapping A-floor corridors map from sonar sensor Motion control Way point local planner Path planning with D* algorithm

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16-735 Project Progress Presentation Coffee delivery mission

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  1. 16-735 Project Progress PresentationCoffee delivery mission Dec, 10, 2007 NSH 3211 Hyun Soo Park, IacopoGentilini

  2. What we have done • Mapping • A-floor corridors map from sonar sensor • Motion control • Way point local planner • Path planning with D* algorithm • Grid base algorithm with 4 connectivities • Dynamic obstacle detection and rebuilding map from sonar sensor • Kalmanfiletering with Sonar sensor • Current position estimation • Image processing with camera vision synchronize • Deterministic current position and orientation synchronization

  3. Strengths and weaknesses • Motion control • low sliding due to reduced velocity • big angular movements • Path planning with D* algorithm • quick computation on the robot pc • coarse grid resolution forced to use 4 neighbors • Kalmanfiletering with Sonar sensor • effective tool to filter noisy sonar data • Image processing with camera vision synchronize • high precision in “good regions” but big errors outside these areas

  4. Demo video

  5. Result

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