Mobile robots @ Labrob - LaDiSpe

Mobile Robotics @ LabRob
A short introduction
Basilio Bona
Michele Bongiovanni
Laboratorio di Robotica
Dipartimento di Automatica e Informatica
Politecnico di Torino
Overview
•
Why mobility?
•
Applications
•
Approaches
•
Solutions
•
LabRob activity
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Why mobility?
• Increased number of degrees of
freedom
•challenging tasks that require displacement
abilities.
• Autonomy
• Human- (animal-) like behaviors
•Helpers or substitutes for
stressing/dangerous tasks
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Applications fields - 1
• Hospitals/Airports/Ho
me
• (Semi)Autonomous
wheel-chairs
• Assistants
• Vacuum cleaners
• Toys
• Requirements
• Robustness
• User friendly humanmachine interface
• Environment sensing
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Applications fields - 2
• Military
• Mine finder
• Flying sentinels
• Soldiers (????)
• Requirements
• SLAM
• Team paradigm
• Communication
• Reliable sensory
systems and fusion
• Reliable hardware
• Real-time software
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Applications fields - 3
• Scientific/industrial
explorations
• Pyramid project
• Pipelines
• Underwater
• Space
• Requirements
• Scalability
• Adaptativity
• Reliable sensing
• SLAM
• Remote controller
systems
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Application fields - 4
• Bio-inspired
• Insects (the great part)
•
•
•
•
Flies
Ants
Spiders
Bugs
• Fish
• Requirements
• Microtechnologies
• Low-level coding
• Swarm paradigm
• Redundancy strategies
• Cooperation/communica
tion
• “Natural” behaviors
• NN controllers
• Artificial intelligence
• Coherence with reality
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Application fields - 5 • ROBOT SOCCER
• World wide robotic
research promotion
• Requirements
• Synchrony
• Communication
• High sensing skills
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Approach
Modelling
Robot
structure
Environment
Interactions
Real
world
Behaviors
Simulations
Real robot
programming
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Result
validation
9
Model based VS behavioral based
controller design
• Model based
• Dynamic continuous/discreet equations
• Accurate mathematical model
• Predictions and equilibria
• Behavior based
• Events and interaction rules
• High dimension and noisy system
• Blocks description
• Mathematics hidden in high-level structures
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Approach
Modelling
Robot
structure
Environment
Interactions
Real
world
Behaviors
Simulations
Real robot
programming
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Result
validation
11
Solutions from simulated to real
world
• “by hand” coding
•No share of resources between simulation
software and hardware
• Automatic coding
•Fast prototyping techniques
•Hardware in the loop
• Hybrid
•Custom code embedding
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LabRob activity -1- RESEARCH
• Fast prototyping using Simulink and the Real
Time Workshop
• Design of real-time embedded controllers
• Code porting on unsupported/custom
architectures
• Model based VS behavioral based controllers
analysis and comparison (e.g. Simulink VS
Stateflow)
• Sensor fusion  env. Mapping (SLAM)
• InfraRed sensors (short distances < 4 m )
• Sonar sensors (long distances < 3 m)
• Video cameras
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LabRob activity -2- RESEARCH
• Algorithms of features extraction from
acquired images (colors, shapes, distances)
• Evolution/dynamics of communication
emergence among simulated agents
• Signal “grounding”
• Communication means
• Audio waves
• Radio waves (which one?)
• Light
• Web learning and remote robot controller
• Java (or equivalent) web interface
• Radio communication host-robot link
• Drive-by-cameras
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LabRob Activity -3AVAILABLE HARDWARE
• 2 x Khepera robot base
(MC68331) with sonars and
radio turrets
• 1 x PAL Color camera
• 1 x SoccerBot (MC68331)
with sonars, color camera,
radio system, kicker and LCD
display.
• 4 x Devantech sonars
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LabRob Activity -3AVAILABLE SOFTWARE
• MATLAB
• Simulink
• Stateflow
• Real Time WorkShop
• RTOS
• VxWorks
• Qnx
• RTAI
• Robots’ embedded operating systems.
• Webots (Khepera and family robot simulator)
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Useful links
http://www.polito.it/
http://www.ladispe.polito.it/robotica/Labrob/indexen.htm
http://www.k-team.com
http://www.cyberbotics.com/products/webots/
http://www.joker-robotics.com/eyebot/
http://www.mathworks.com/products/rtw/
http://www.robot-electronics.co.uk/
shop/Ultrasonic_Rangers1999.htm
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?? QUESTIONS ??
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Coming next…
LADISPE di
AUTOMATICA
10:30-12:30
12:30-14:30
LUN 14/03
BONFITTO,
CARDELLINO,
CAVALERA, CERUTTI,
CHIONO, COCONDI,
CORATELLA,
CORSIATTO, DANNA,
DE GIUSEPPE
DEDOLA,
DEIRO,FAVOT, FELE,
FICILI, FILIPE,
FRASSY, GRASSINO,
IMPINNA, KAOUK
MER 16/03
LAFFRANCHI, MATTIO,
PAOLELLA, PEIRANO,
PONSETTI,
PRIMAVERA, SAGLIA,
SARRACINO,
SEVERINO, ZANCANER,
PEREZ, HUI KIT
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