SLAM the Robots Margaret Jefferies
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Transcript of SLAM the Robots Margaret Jefferies
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SLAM the SLAM the RobotsRobotsMargaret JefferiesMargaret Jefferies
Department of Computer Department of Computer Science Science
University of WaikatoUniversity of Waikato
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Autonomous Mobile RobotsAutonomous Mobile Robots
andand
SLAM!SLAM!
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Some Real RobotsSome Real Robots
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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.
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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.
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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
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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
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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
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Control BehaviourControl Behaviour
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Control BehaviourControl Behaviour
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Control BehaviourControl Behaviour
Obstacle avoidanceObstacle avoidance
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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
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A map of the environment
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Lego robot
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LocalisationLocalisation
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Simultaneous Mapping and Simultaneous Mapping and LocalisationLocalisation
SLAMSLAM
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PlanningPlanning
goal
start
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PlanningPlanning
goal
start
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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