4 research outputs found

    Rendezvous Without Coordinates

    Full text link

    Evaluaci贸n de estrategia de navegaci贸n aut贸noma basada en comportamiento reactivo para plataformas rob贸ticas m贸viles

    Get PDF
    We presented a performance evaluation on a real platform of an approach to computing motion strategies for a nonholonomic robot in a cluttered environment. The robot has no access to either metric information about the location of obstacles and its own position, or to odometry or speed controls. We use real-time recognition of radiated signal from the target position, that allow the robot to navigate and to learn global information about the target location. We demonstrate example tasks that can be performed using this approach.En esta investigaci贸n se presenta una evaluaci贸n de desempe帽o sobre una plataforma real de una estrategia utilizada para el c谩lculo del movimiento de un robot no holon贸mico en un ambiente desordenado. El robot no tiene acceso a la informaci贸n m茅trica sobre la ubicaci贸n de los obst谩culos o de su propia posici贸n, ni tampoco control de odometr铆a o velocidad. Se utiliza el reconocimiento en tiempo real de la se帽al radiada desde la posici贸n de destino, que permite al robot聽 navegar y aprender informaci贸n global acerca de la ubicaci贸n del destino. Se demuestran tareas de ejemplo que se pueden realizar con este enfoque

    Localization With Limited Sensing

    Full text link

    Algorithms for Robot Coverage Under Movement and Sensing Constraints

    Get PDF
    This thesis explores the problem of generating coverage paths鈥攖hat is, paths that pass within some sensor footprint of every point in an environment鈥攆or mobile robots. It both considers models for which navigation is a solved problem but motions are constrained, as well for models in which navigation must be considered along with coverage planning because of the robot鈥檚 unreliable sensing and movements. The motion constraint we adopt for the former is a common constraint, that of a Dubins vehicle. We extend previous work that solves this coverage problem as a traveling salesman problem (TSP) by introducing a practical heuristic algorithm to reduce runtime while maintaining near-optimal path length. Furthermore, we show that generating an optimal coverage path is NP-hard by reducing from the Exact Cover problem, which provides justification for our algorithm鈥檚 conversion of Dubins coverage instances to TSP instances. Extensive experiments demonstrate that the algorithm does indeed produce path lengths comparable to optimal in significantly less time. In the second model, we consider the problem of coverage planning for a particular type of very simple mobile robot. The robot must be able to translate in a commanded direction (specified in a global reference frame), with bounded error on the motion direction, until reaching the environment boundary. The objective, for a given environment map, is to generate a sequence of motions that is guaranteed to cover as large a portion of that environment as possible, in spite of the severe limits on the robot鈥檚 sensing and actuation abilities. We show how to model the knowledge available to this kind of robot about its own position within the environment, show how to compute the region whose coverage can be guaranteed for a given plan, and characterize regions whose coverage cannot be guaranteed by any plan. We also describe an algorithm that generates coverage plans for this robot, based on a search across a specially-constructed graph. Simulation results demonstrate the effectiveness of the approach
    corecore