Post on 13-Jan-2016
SLAM the SLAM the RobotsRobotsMargaret JefferiesMargaret Jefferies
Department of Computer Department of Computer Science Science
University of WaikatoUniversity of Waikato
Autonomous Mobile RobotsAutonomous Mobile Robots
andand
SLAM!SLAM!
Some Real RobotsSome Real Robots
Robots might not be taking over the world any time soon but they could soon rule the roost if most New Zealanders have their way.
More than two-thirds of New Zealanders would welcome robots to do chores around the house, according to a study of 750 people, commissioned by Honda. Most people wanted robots to help with housework, many wanted an extra mechanical hand with the washing up and some wanted a robot to mow the lawns.
Politicians and the All Blacks need to watch their backs – some respondents suggested robots should replace politicians and that a team of robots might fare better than the present rugby team.
Some people said they would even swap their partners for robots. Women were keener for a robotic partner, with 5.5 per cent saying they would like to switch, compared with just 3.3 per cent of men wanting to replace their partner.
Autonomous Mobile Robots Autonomous Mobile Robots needneed
• SensorsSensors– Lasers, sonar, cameraLasers, sonar, camera
• Control behaviourControl behaviour– A strategy for moving aroundA strategy for moving around– Obstacle avoidanceObstacle avoidance
• A map of the environment A map of the environment • LocalisationLocalisation
– A way of figuring out where it isA way of figuring out where it is
• A plan for getting to its goal A plan for getting to its goal
SensingSensing
• Range sensors very popularRange sensors very popular– Reflected light or soundReflected light or sound– Time of flightTime of flight– Not too much data Not too much data
• Camera sensor not so popularCamera sensor not so popular– Too much dataToo much data
Autonomous Mobile Robots Autonomous Mobile Robots needneed
• SensorsSensors– Lasers, sonar, cameraLasers, sonar, camera
• Control behaviourControl behaviour– A strategy for moving aroundA strategy for moving around– Obstacle avoidanceObstacle avoidance
• A map of the environment A map of the environment • LocalisationLocalisation
– A way of figuring out where it isA way of figuring out where it is
• A plan for getting to its goal A plan for getting to its goal
Control BehaviourControl Behaviour
Control BehaviourControl Behaviour
Control BehaviourControl Behaviour
Obstacle avoidanceObstacle avoidance
Autonomous Mobile Robots Autonomous Mobile Robots needneed
• SensorsSensors– Lasers, sonar, cameraLasers, sonar, camera
• Control behaviourControl behaviour– A strategy for moving aroundA strategy for moving around– Obstacle avoidanceObstacle avoidance
• A map of the environment A map of the environment • LocalisationLocalisation
– A way of figuring out where it isA way of figuring out where it is
• A plan for getting to its goal A plan for getting to its goal
A map of the environment
Lego robot
LocalisationLocalisation
Simultaneous Mapping and Simultaneous Mapping and LocalisationLocalisation
SLAMSLAM
PlanningPlanning
goal
start
PlanningPlanning
goal
start
What do you need to study What do you need to study roboticsrobotics
At School
Essential - MathematicsEnglish
Useful - Physics
At University
Essential - Computer ScienceMathematics
Useful - Physics