Download presentation
Presentation is loading. Please wait.
Published byStewart Arnold Modified over 9 years ago
1
ROBOT LOCALISATION & MAPPING: NAVIGATION Ken Birbeck
2
Introduction Talk about Navigation Path finding What is path finding How robots are able to find a path My background Initial to do list Final deliverable
3
Navigation Navigation is the process in which the robot looks at data about its surroundings, determines where the desired targets are located and then using this data, determines a safe path to a target from its current location. Thus navigation has 2 main phases Planning Motion.
4
Planning the path to follow Path finding The process through which a path to travel is determined Relatively easy for humans but not so easy for robots Examples of path finding algorithms A-star D-star
5
A-star path finding Divides a map into sections/nodes Plans a least-cost path based on a distance plus cost heuristic function. Sum of 2 functions Path cost function Admissible heuristic estimate of the distance to the desired location.
6
D-star path finding D-star pseudo code: Makes assumptions about unknown parts of the environment Finds the shortest path from the robots location to a given location based on those assumptions Detects obstacles and updates the map Calculates a new shortest path
7
Background My background – worked on the lynx robot as part of robotic systems last year Developed simple navigation programs: Wall follower program Imprinting program
8
Project start to do list Adaptation of programs from last year to a proximity alert program using IR sensors Produce a simple exploring algorithm Produce a path finding algorithm Determining a path to a know location of a target Determine the location of a target and then a path to it
9
Final Deliverable Final deliverables: lynx robot to autonomously map and navigate an indoor area. If time permits expanded to navigating a outside area and 3D mapping.
10
Questions? Thank you for your time. Any questions?
Similar presentations
© 2025 SlidePlayer.com. Inc.
All rights reserved.