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Multi-robot Fast Model Construction Using Potential Field


VectorField.gif

Objective

Using a team of robots to get a map of indoor area within

  • Minimum time
  • Most coverage
  • Least overlapping

Schedule

  • [Jun 01 - Jun 08] Literature review
    • Look at ICRA 2012 & 2011
    • keywords: coverage, potential field, navigation, multi-robot exploration, local navigation, local path planning
    • List of papers, short annotation on each one
    • be very specific about what's different and what's the same
  • [Jun 01 - Jul 08] Refine algorithm
    • Test on obstacle map
    • chart: amount of duplication -> average potential over time map
    • redo random noise
    • global scope oversee the whole map
      • Two output map: slam result map and potential map
      • Result map
      • Potential map
  • [Jun 08 - Jul 01] MobileSim Integration
  • [Jul 01 - Jul 15] MobileSim test runs
  • [Jul 15 - Aug 01] Real robot integration complete
  • [Aug 01 - Aug 15] Real robot test runs
  • [Aug 15 - Sep 01] Paper writeup

Literature Review

Algorithms

test

Results

test

Conclusion

test

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-- (c) Fordham University Robotics and Computer Vision

Topic attachments
I Attachment History Action Size Date Who Comment
PNGpng TotalCoverageLevel.png r1 manage 15.2 K 2013-05-31 - 19:54 UnknownUser  
GIFgif VectorField.gif r1 manage 3118.9 K 2013-05-31 - 19:53 UnknownUser  
Topic revision: r1 - 2013-05-31 - TsungMingLiu
 
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