Mobile Robotics Mini Presentation
Mobile Robotics Mini Presentation
Mobile Robotics Mini Presentation
Julie Letchner
Angeline Toh
Mark Rosetta
Fundamental Idea: Robot
Pose
2D world (floor
plan)
3 DOF
Sensor
Movement
Inaccuracy
Inaccuracy
Environmental
Uncertainty
Problem One: Localization
Given:
World map
Sensor updates
Find:
Robot’s pose as it moves
How do we Solve
Localization?
popular)
Monte Carlo localization / particle
filters
Given:
Robot
Sensors
Find:
Map of the environment
If we have a
map:
We can localize!
If we can localize:
We can make a map!
Circular Error Problem
If we have a
map:
We can localize!
NOT THAT SIMPLE!
If we can localize:
We can make a map!
How do we Solve SLAM?
Incorporate location/map
uncertainties into a single model
Optimize robot’s exploratory path
Major hurdle:
correlation problem
Credit to Sebastian Thrun for this
For the Interested
Good overview papers by Sebastian Thrun:
“Probabilistic Algorithms in Robotics”,
2000
“Robotic Mapping: A Survey”, 2002
Stanford course: cs225B
Build a Markov Localization engine
Run it on Amigobots to play soccer
Up Next…
Mobile robot example: Underwater robots
Localization is only useful if we’re
mobile…
…so how do these robots move?
Emergent Behaviors
Mobile robots more powerful in
groups…
…but localization is expensive…
…so what can we do without