Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

Session WedFT6 Gemini 3 Wednesday, October 10, 2012, 16:15–17:30
Navigation III
Chair Rüdiger Dillmann, KIT Karlsruhe Inst. for Tech.
Co-Chair Christian Pascal Connette, Fraunhofer IPA
16:15–16:30 WedFT6.1
On-line Road Boundary Estimation by Switching
Multiple Road Models using Visual Features
from a Stereo Camera
Takeshi Chiku and Jun Miura
Department of Computer Science and Engineering,
Toyohashi University of Technology, Japan
• On-line road boundary estimation for
mobile robots.
• Multiple road models to cope with a variety
of road shapes.
• Road model switching at the state
transition step of particle filter-based
estimation.
• Use of multiple visual features (color,
edge, height) from a stereo camera for
robust estimation.
• Applied to various road scenes in a
campus environment.
Estimated boundaries and
road regions
16:45–17:00 WedFT6.3
Non-metric Navigation for Mobile Robot Using
Optical Flow
Yung Siang Liau,
Department of ECE, National University of Singapore, Singapore
Qun Zhang, Yanan Li
Department of NGS, National University of Singapore, Singapore
and Shuzhi Sam Ge
IDMI and Department of ECE, National University of Singapore, Singapore
• Mobile robot navigation using a single
camera as the sole sensory device.
• Time-to-collision measure for qualitative
depth information extraction based on
optical flow divergence.
• Heading decision making framework
based on the proposed “Qualitative
Visually Admissible Regions” which takes
into account of goal-oriented navigation.
• Behaviour based design for increased
robustness under different obstacle
configurations.
Figure caption is optional,
use Arial Narrow 20pt
17:15–17:30 WedFT6.5
Shop floor based programming of assembly
assistants for pick-and-place applications
Sven Dose
Robert Bosch GmbH, CR/APA3, Germany
Rüdiger Dillmann
Institute of Anthropomatics, Karlsruhe Institute of Technology, Germany
• Fast programming and commissioning of
flexible assembly assistants without
requiring expert knowledge
• Intuitive operator guidance for leading
inexperienced users efficiently through the
hole programming process
• Easy parameterization of pick-and-place
actions including complex work piece
detection sequences
• Fast and precise teaching of robot and
gripper movements for industrial
manipulation applications
Operational chain for
programming assembly
assistants
16:30–16:45 WedFT6.2
Robot Navigation with
Model Predictive Equilibrium Point Control
Jong Jin Park
Mechanical Engineering, University of Michigan, USA
Collin Johnson and Benjamin Kuipers
Computer Science and Engineering, University of Michigan, USA
• An autonomous vehicle intended
to carry passengers must be able
to generate trajectories on-line
that are safe, smooth and
comfortable.
• We formulate local navigation in
dynamic environments as a
continuous, low-dimensional and
unconstrained optimization
problem which is easy to solve.
• Proposed MPEPC framework
depends on compact
parameterization of closed loop
trajectories and use of expected
values in the cost definition.
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
–175–
MPEPC-based Navigation
Top: A non-holonomic wheelchair robot
and local trajectory evaluations.
Bottom: Example navigation run in an
open hall with multiple pedestrians
17:00–17:15 WedFT6.4
Singularity-Free State-Space Representation for
Non-Holonomic, Omnidirectional Undercarriages
by Means of Coordinate Switching
Christian Connette, Martin Hägele, Alexander Verl
Fraunhofer IPA, Stuttgart, Germany
• Non-holonomic omnidirectional
undercarriages promiss high flexibility and
robustness at the same time
• Such drive-chain kinematics are
characterized by singular configurations
and actuator concurrency
• A state-space representation is proposed
that allows to circumvene this hindrances
by means of controller switching
• W.r.t. this state-space a switching based
controller for is implemented, validated
and comparatively evaluated
Prototype of undercarriage and
switching borders in cart. and
sph. State-space