Path Finding And Control In Mobile Autonomous Robotic Systems Dan Hand COT 4810 February 19, 2002 Presentation Overview A robot is an computer-controlled electro-mechanical device Robotic systems can be grouped by movement capability: Constrained systems
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February 19, 2002
Consider the following situation:
Trial & Error Path
Lake or Other Hazard
Situational Behaviors – these will only be executed if the correct conditions exist
The default behavior usually takes no action but is the parent of all other behaviors in the system
Move to target
Default behaviorSubsumption Architecture Example
Initial Straight Line Course From Move To Target Behavior
Path With Obstacle Avoidance Behavior
Feedback From Output Device correct conditions exist
Output Based on FeedbackGeneral Control Overview
Varying force applied to wheel
Error in GPS Positioning
Distance to object
Object Detected By Sensors
TJ - Designed by Mark Torrance for his master’s thesis
Where are you?
I don't know where I am right now.
Which way are you facing?
I don't know which way I am facing. Please tell me.
You are facing north
I am facing NORTH. Thanks.
You are at Mark's office
I'm learning about MARK'S OFFICE.
I'm turning around.
Go until you can turn right
I'm going until I see no obstacle on the right.
You are at the northeast entrance to the elevator lobby
I'm learning about THE NORTHEAST ENTRANCE TO THE ELEVATOR LOBBY.
Designed to navigate around MIT offices
Uses an odometer for localization