Autonomous Localization & Navigation using 2D Laser Scanners Animesh Garg & Manohar Paluri
22 Outline Problem Description Motivation Previous research Proposed solution Details of our approach Testing Results Conclusion
33 Why an autonomous painting system is required?
44 Introduction During spray painting process, the environment has a very large concentration of paint particles decreasing visibility. And the paint settles on surfaces, it rules out markers based solution. The Omnimove is a huge platform for moving very heavy weights around. Herein it would hold the robotic arm which will be used to carry out the painting job.
55 Potential Solutions Cameras GPS INS Sonar Laser Northstar And more..
66 Our solution Laser Scanners Sample Mount
77 Past Work
88 Block Diagram
99 Rigid Transformation Scan1Scan2 Combined Scan
10 Hough Transform
11 Non-Uniform Density
12 Weighted Hough Transform
13 Find Maximas
14 Total Least Squares
15 Line Fitting
16 Localization
17 Obstacle Map
18 Obstacle Detection
19 Planning - RRT
20 Navigation
21 Future Scope
22 Thank You