CPS 300 - Graduate Seminar Student Presentations.
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Transcript of CPS 300 - Graduate Seminar Student Presentations.
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CPS 300 - Graduate Seminar
Student Presentations
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Mobile Robot Navigationwith Neural Maps
Michail G. LagoudakisDepartment of Computer Science
Duke University
(Center for Advanced Computer Studies)
(University of Southwestern Louisiana)
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Motivation
Autonomous Robots– Planetary Exploration– Service Robots– Inspection Robots
Biologically-Inspired Robots– Animal Learning and Behavior– Neural Network Models
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Talk Outline
Background– Mobile Robot Navigation– Neural Maps
Navigation with Neural Maps The Polar Neural Map Implementation on a Nomad 200 Results Conclusions
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Mobile Robots
RWI B14 RWI B21
Nomad 200Nomad 150Nomad XR4000
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Mobile Robot Navigation
Global– Map-Based
– Deliberative
– Slow
Local– Sensory-Based
– Reactive
– Fast
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Navigation Subproblems
What should I remember?• Cognitive Mapping
Where am I?• Localization
Where should I go?• Path Planning
How can I go?• Motion Control
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Animal Navigation
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Robot Navigation
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Navigation Landscape
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Neural Maps
“A localized neural representation of signals in the outer world” [Amari]
Hopfield-type Neural Networks Topologically Ordered Units
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Neural Map Property
Amplification through Self-Organization
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Neurons
Non-linear Processing Units
Non-Linear Dynamics
ui(t)
W i V (t) i( t)
vi (t 1) (ui(t))dvi (t)
dt(ui(t)) vi(t)
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Path Planning with Neural Maps
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Network Topology
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Path Planning Example 1
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Path Planning Example 1
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Path Planning Example 1
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Path Planning Example 2
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Path Planning Example 2
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Path Planning Example 2
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Problem?
Global Information?
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A “Bad” Idea
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A “Good” Idea
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The Polar Neural Map
Represents the local space. Resembles the distribution
of sensory data. Provides higher resolution
closer to the robot. Conventions:
– Inner Ring: Robot Center
– Outer Ring: Target Direction
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Example
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Example (...continued)
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Example (...continued)
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Example (...continued)
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Boudreaux (Nomad 200) Nonholonomic Mobile Base Zero Gyro-Radius Max Speeds: 24 in/sec, 60 deg/sec Diameter: 21 in, Height: 31 in Pentium-Based Master PC Linux Operating System Full Wireless 1.6 Mbps Ethernet 16 Sonar Ring (6 in - 255 in) 20 Bump Sensors
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System Architecture
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Results
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Results (…continued)
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Results (…continued)
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Results (…continued)
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Results (…continued)
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Results (…continued)
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Robot Movie
Enjoy some robotic video footage!
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Contributions
Neural Maps for Fast Path Planning The Polar Neural Map Implementation on a Real Robot A Complete Local Navigation Scheme
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Future Work
On-board Code Execution Polar and Logarithmic Map Global Navigation Neural Map Self-Organization
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More Information
M.Sc. Thesis, Poster– http://www.cs.duke.edu/~mgl/acadpape.html
IEEE ICRA ’99 Paper– Email: [email protected]
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Thank You
TheThe EndEnd!
©1998 - CPS 300 Inc.
Special thanks to
The Robotics and Automation Lab at USLProf. Anthony S. Maida
Prof. Kimon P. ValavanisProf. Bill Z. Manaris