tailieunhanh - Machine Learning and Robot Perception - Bruno Apolloni et al (Eds) Part 3

Tham khảo tài liệu 'machine learning and robot perception - bruno apolloni et al (eds) part 3', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 42 M. Mata et al. Corridor Navigation Example A more complex unconstrained navigation problem is presented now. The robot starts in a unknown point of the building and it must reach a specific location. In this example the robot starts in the hall between zones B and C on the third floor of building 1. The robot does not know any of this and is told to reach room . Fig. presents the landmark distribution and the approximate trajectory there is no need for odometric measures described by the robot. The robot does not know its initial position so it tries to find and read a room nameplate landmark. If it can achieve this then immediately knows its position building zone and office it stands at . In this case it can t find any one. Then the room identification from landmark signature ability is used. The robot tries to find all the landmarks around it and compares the obtained landmark sequence with stored ones. Fig. shows an image of this location taken with the robot s camera. In this example again this is not enough because there are several halls with a very similar landmark signature. The last strategy considered by the robot is entering a corridor using the laser telemeter and trying again to read a nameplate. Now this is successful and the robot reads in the image shown in Fig. . Once located the desired action sequence until the objective room is reached is generated. The robot is in the right building but in the third floor so it must search for a lift to go down one floor. The topological map indicates it has to follow the C zone corridor then enter a hall and search here for a lift sign. It follows the corridor and tries to read the nameplates for avoiding getting lost. If some are missed it is not a problem since reading any of the following ones relocates the robot. If desired other landmarks present in the corridors like fire extinguisher ones can be used as an additional navigation aid. When the corridor ends in a