(2015 융합강의) Advanced Creative Robotics - Introduction of Path Planning PDF

Creative Advanced Robotics
[ ]
Introduction of Path Planning and

Navigation of Mobile Robot and UGV
Real time Path Planning of Mobile Robot and UGV in Unknown
Environments and Its Application
School of Mechanical Engineering, Pusan National University
Prof. Min Cheol Lee

Email: mclee@pusan.ac.kr
Home page: http//mclab.me.pusan.ac.kr
Special Topics of Creative Advanced Robotics 1/100

Contents
1. Definition of Navigation ?
2. Mobile Robot and Autonomous Vehicle Technique
3. Path Planning
Global Path Planning
Local Path Planning APF with Virtual Hill
4. Simulation, Experiment and Its Application
5. Conclusion

Definition of Navigation
What is Navigation?
the process of monitoring and controlling the movement of
a craft or vehicle from one place to another. -wikipidia
Inertial navigation is a dead reckoning* type of navigation system that
computes its position based on motion sensors such as IMU.
Radio navigation uses radio waves to determine position by either radio
direction finding system or hyperbolic systems, such as Decca, Omega,
and LORAN-C.
Radar navigation uses radar to determine the distance from or bearing of
objects whose position is known.
Satellite navigation uses artificial earth satellite systems, such as GPS,
to determine position.
* Dead Reckoning: a method of estimating the position of a ship , aircraft , or UGV by applying
estimates of the distance and direction travelled to a previously position

Navigation

TSUKUBA CHALLENGE 2010

TSUKUBA CHALLENGE 2011

https://www.youtube.com/watch?v=01rXdSl1NU8

Navigation Technologies Path Control

Control Strategy
Detail Position Estimation / Road Following
Teaching Playback / Motion Design
Map
Measured / Self-made
Google / Provided by Local Government
Positioning - Localization
GPS
Land Marks Selection
Motion Control
Collision Avoidance / Safety

Navigation-Global Path Planning

UGV Competition https://www.youtube.com/watch?v=2gQ3P5BpLjQ
DARPA Grand Challenge
Autonomous Vehicle Competition

Organized by Hyundai Mobile Com., NGV
Path Control of Mobile Robot and Autonomous Vehicle
Technical Issue
Dijkstra Algorithm
A* and D* Algorithm
Path
Control Leader-Follower Model
Potential Field
Vision +Laser

Autonomous Vehicle Technique

Component Technique
Recognition of
Environment
Path Planning
Vehicle Control
Sensors for environment recognition

Autonomous Mobile Technique
< Autonomous Mobile Robot with Environment Recognization >


Environment and Obstacle Recognition Technique
Distance Recognition Sensor(Lidar, Laser Range Finder)

Location Recognition
DGPS/RTK(Real Time Kinematics)-GPS
Environment Recognition: Vision Sensor
Recognition of driving environment


Distance Recognition Sensor
Ultrasonic, Infrared Sensor: Short Distance, Low Resolution Mobile Robot
Lidar, Laser Range Finder: Long Distance, High Resolution UGV
Model LMS291 of SICK Data Acquisition Results from SICKLRF


Localization (Positioning) Sensor
GPS: Low cost, Large Error( around Max. 20 m)
DGPS (Differential GPS) : Medium Cost(a Million Won ), Lower Error (4~5 m)
RTK(Real Time Kinematics)-GPS : High Cost(10 Million Over), Lowest Error
GPS Based Localization system

Vision Sensor
Lane Recognition,
Bumblebee2 of POINT GREY
Road recognition using vision sensor in DARPA Grand Challenge

Path Planning
Trapping obstacle
Robot Path Planning Start
without Human Help
z [m ]
in Known or Unknown Environments Goal
in Static or Dynamic Environments x [m] y [m]
in 2-dimentional or 3-dimentional Environments

for Arbitrary-shaped Robots
in Real-time

Path Planning
Global Known Environment

Path Planning
Local Unknown Environment
obstacle
Global Local Global + Local

Path Planning
Conventional Approaches
Complete Algorithms
for only Known Environments Dijkstra Algorithm
computationally intractable A* and D* Algorithm
Heuristic (incomplete) Algorithms

adaptable to Unknown Environments
lower complexity _ Real-time
Artificial Potential Field Approach

Dijkstra algorithm
a graph search algorithm that solves the single-source shortest path problem
for a graph with nonnegative edge path costs, producing a shortest path tree

A* search algorithm
uses a best first search and finds a least-cost path from a given initial node to one
goal node(out of one or more possible goals).
Goal
Start
Obstacle
Total Cost = g(x) +h(x)
Example of A* algorithm


D* search algorithm
works by iteratively selecting a node from the OPEN list and evaluating it. It then propagates
the node's changes to all of the neighboring nodes and places them on the OPEN list.
D* begins by searching backwards from the goal node. Each expanded node has a
backpointer which refers to the next node leading to the target, and each node knows the
exact cost to the target.
LOWER
h(G, X ) : path cost function states
RAISE
states h(G, X ) k (G, X )
k (G, X ) h(G, X )
Path Cost function: h(G, X )

LOWER
Key function: k (G, X ) is defined states
to the equal to the minimum of h(G, X )
DARPA GRAND CHALLENGE
https://www.youtube.com/watch?v=M2AcMnfzpNg

Path Planning Algorithm to be Applied in DARPA Urban Challenge
Path planning algorithm s of 35 teams Path planning algorithm s of top 10 in

in Urban Challenge 2007 Urban Challenge 2007

DRC 2015
https://www.youtube.com/watch?v=BGOUSvaQcBs
Korea Humanoid Robot - Hubo - DRC Final Winner

References
Cormen, Thomas; Leisernson, Charles E; Rivest, Rolald L.; Stein Clifford, "Section 24.3:
Dijkstra's algorithm". Introduction to Algorithms (Second ed.), MIT Press and McGraw-Hill,
pp. 595601, 2001.
Hart, P. E.; Nilsson, N. J.; Raphael, B. (1968). "A Formal Basis for the Heuristic
Determination of Minimum Cost Paths". IEEE Transactions on Systems Science and
Cybernetics SSC4 4 (2), pp100107.
Dechter, Rina; Judea Pearl (1985). Generalized best-first search strategies and the
optimality of A*, Journal of the ACM, Vol
Pearl, Judea (1984). Heuristics: Intelligent Search Strategies for Computer Problem
Solving. Addison-Wesley. ISBN 0-201-05594-5
Anthony Stentz, Optimal and Efficient Path Planning for Partially-Known Environments,
in Proceedings IEEE International Conference on Robotics and Automation, May 1994.
Anthony Stentz, The Focussed D* Algorithm Algorithm f or Real-Time Replanning, in
Proceedings of IJCAI-95, August 1995.

Local Path Planning - APF

One of the Most Popular Technique
Providing Simple and Efficient Path Planner
Real-time Path Planning in Unknown Environment
Local minimum problem

Trap a robot before reaching it's goal
Inevitable problem in a local path planning
New approach to escape local minimum
Virtual Hill Concept


Attractive Potential (Goal) Repulsive Potential (Obstacle)
Obstacle
Goal
Potential
Potential
y [m ]
y [m ]
x [m ]
x [m ]


Attractive Potential (Goal) Repulsive Potential (Obstacle)
Obstacle
Goal
Potential
Potential
+
y [m ]
y [m ]
x [m ]
x [m ]
Goal Obstacle F Robot

Start
Potential
= Obstacle
y [m ]
Goal
x [m ]

Local Minimum Problem
Robot Robot
Obstacle Obstacle
VS
Goal Goal
Global minimum (Goal) Global minimum Local minimum

Potential
Potential
y [m ] y [m ]
x [m ] x [m ]
Local Path Planning APF with VH
Goal Obstacle Virtual Hill
6 6 6
Attractive Repulsive Extra
Potential Potential Potential
Obstacle
?
Goal
Potential
Potential
y [m ]
y [m ]
x [m ]
x [m ]
Absolutely eliminate
local minima
New Approach with Virtual Hill
Start
Path Planning by
Attractive Potential and Repulsive Potential
No
No Local
Reach goal?
minimum?
Yes Yes
End Generate Virtual Hill with Extra Potential

Yes
Path Planning by Escape

Extra Potential and Repulsive Potential Local minimum area?
No


Extra Potential : Definition
U ext ke1 ke 2
2
Total Potential : U U ext U rep


Extra Potential
in U ext ke1 ke 2
2

: Q t * : t0 t * t and t0 t tk

Direction of : a path-of-the-closest-obstacles
y
p (t i + 1 )
en
p (t i )
et

p (t i - 1 )
p C O ( t i ) = Q (t i )
eb
pC O (t i - 1) = Q C O (t i - 1)
x
z

: Q t * : t0 t * t and t0 t tk
Definition of e b

B / B
eb
if B / B 0
where, B p goal pto p(t0 ) pto

k if B / B 0
y Estimated
p (t 0 ) obstacle line

eb =- k
en

et
pT O
pG oal
p pco x
en , et e n eb z
p pco
Special Topics of Creative Advanced Robotics3535/100
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Extra Potential
2
in U ext ke1 ke 2
2
p pco


Extra Force
Fext U ext ke1et 2ke 2 en Very easy to get in Real-time
y Q (t i )
p (t i ) et
en Q (t i ) = p C O (t i )
Q (t j )
p (t j )
Detected
p (t j - 1 )
Obstacles
p (t 2 ) Q (t j ) = p C O (t j )
Q (t j - 1 ) = p C O (t j - 1 )
en
et
p (t 1 )
p (t 0 )

Q (t 1 ) = p C O (t 1 )
Q (t 0 ) = p T O = p C O (t 0 )
(t 0 ) = 0
x

How does it have No Local Minimum ?
1 1 1
kr 2 en 0
Frep 0

0 0
1 1 1
ke1et kr 2 2ke 2 en 0
0
F Frep Fext

ke1et 2ke 2en 0

Always F 0
At a local minimum, F = 0
Hence, New Approach has not a Local Minimum.


When generate a Virtual Hill ?
If p (t )- p (t - T a ) Sa
then, generate a Virtual Hill
Start
[m]
p (t )
y
p (t - Ta)
Goal
x [m]

Extra Potential Field
U ext ke1 ke 2
2
Virtual hill
Potential
Start
[m]
y
Goal Local minimum
y [m ] x [m]
x [m ]

New Potential with Extra Potential
Extra Potential Repulsive Potential
Virtual hill
Potential
Potential
+
y [m ] y [m ]
x [m ]
x [m ]
Virtual hill
Potential
=
y [m ]
x [m ]

Path Planner with Extra Potential
If Trapped by Local Minimum
New Potential Filed with

Conventional Potential Filed Type 2 Extra Potential
y [m ]
If Escape Local Minimum Area

When return to Conventional Approach ?
If follows are satisfied
1. (pto p) Fatt 0
to do not return to the local minimum by an attractive force
2. (pto p) Frep 0
to do not return to the local minimum by a repulsive force
pC O (t K ) = Q (t K )
3. (p goal p) Frep 0 p C O ( t i ) = Q (t i )
Obstacle
p (t K ) p (t i )
to move to the goal direction by a repulsive force Just trapped by a

Just escape a local p (t 0 )
local minimum
minimum area
pC O ( t 0 ) = p T O = Q (t 0 )
then, return to the Conventional Approach
Goal

Simulations ( 1 )
New Approach with the Extra Potential
Goal Start
Start
Goal

Simulations ( 1 )
Trapping obstacle Trapping obstacle

Start Goal Start
[m]
[m]
Goal
y
x [m] x [m]

Simulations ( 2 )
Start
Goal

Simulations ( 2 )
Trapping obstacle
Start
z [m]
Goal
x [m] y [m]

Simulations ( 3 )
Dynamic Environment
Start
Goal

Application to Mobile Robot
The Mobile Robot System for Experiment
CCD Camera
Manipulator
Ultrasonic
sensors

Experiments ( 1 )
Goal
Start


Experiments ( 2 )
Start
[m]
Goal
y
x [m]


Application to UGV
Outlook of UGV for Application
Outlook of UGV

Application to UGV
Block Diagram for UGV Path Control

Navigation System, Obstacle Recognition System,
Vehicle Control System, Integration System for UGV Path Control
<Block diagram of UGV path control>

Application to UGV
Vehicle Control System
Schematic diagram of vehicle control system

Application to UGV
Navigation Sysem
Localization using DGPS and North Finding
Electromagnetic Compass
Schematic diagram of navigation system

Application to UGV
Obstacle Recognition System

Laser range Finder
Maximum obstacle recognition range 0~180 degree, 80m
Location for attaching the laser range finder

Application to UGV
Problems to apply conventional potential field to UGV
Path control problem of UGV

Application to UGV
Case 1: UGV approaches a zone of generating repulsive force
=> Generating stonger steering force to change a head direction
-1: repulsive force vector zone

-2:repulsive force vector zone same
as attractive force
-r1: zone for reducing driving speed
-r2: zone of goal position
<Potential field application for UGV>

Application to UGV Creative Advanced Robotics
Steering and Speed Control

case : d r1
F FREP
V Vmin Vmax Vmin ATT
If (||FREP||>0)
FATT

V Vmin Vmax Vmin max
If (||FREP||=0)
max
case : d r1
d r2
V Vmin Vmax Vmin -V: driving speed
r1 r2
-V max: maximum velocity
-V min: minimum velocity
- max: maximum steering angle
- : steering angle
<Speed control according to steering angle>

Application to UGV
Simulation
Obstacle
Obstacle

Application to UGV
Experiment Condition and Environment
1 2 r1 r2 Vmax Vmin
5m 2m 5m 2m 5.4Km/h 3.6Km/h
PNU Ground
Application to UGV
Experiment 1 (Obstacle Length: 4m, Width: 50cm)

Application to UGV
Experiment 2 (Multi Obstacle Cone type diameter:30cm)

Application to UGV
Experiment 3 (Dynamic Obstacle )

Application to Cluster Robots

Background
Research Condition
To Realize a cluster with 3 robots
Formation Type with 3 Robots
Line formation
Triangle formation
Parallel formation
Advantages of Line Formation
Most efficient navigation
Static in the environment as small and narrow area


2.1 System
Catalogue Contents
Number of robots 3
Robot size 120 x 200 x 150 (mm)

Micro robot system
Maximum velocity 0.2 m/sec
Degree of Sensor 180 degrees
Vehicle SE-SM243 stepping motor
Processor ATmega128
Ultrasonic Sensor SRF-05
IR Sensor EL-1KL2, ST-1KLA A Side view of Robot
Power 11.1V, 850mAh Li-Po battery Special Topics of Creative Advanced Robotics 67/100
Line Formation
Line formation
If the Virtual hill occurs, a cluster of robots can
be in a line and creates attractive and repulsive
force among robots.
This makes it possible to maintain a formation
and automatic driving.
Line formation
Step 1 When a robot recognizes only a goal-Leader

Step 2 When a robot recognizes a goal and one robot-1st Follower
Step 3 When a robot recognizes a goal and two robots -2nd Follower


Step 1 Step 2
Virtual sink
Step 3
Goal
Leader
Follower1,2
Virtual hill
Flow chart line formation


5.1 Simulation
Simulation
Arrival time according to the ultrasonic
scanning degree resolution 1 ~ 9 and
ultrasonic scanning distance resolution
1mm, 10mm (error : 5mm)
Arrival time according to the ultrasonic
scanning interval 2sec~400msec and
ultrasonic scanning distance resolution
1mm, 10mm (error : 5mm)


Simulation
Sensor degree resolution 1

Distance resolution 1mm, 10mm
Sensor degree resolution 3

Distance resolution 1mm, 10mm

Experiments
Simulation
400
160
350
140
300 120
Arrived Time(s)
Arrived Time(s)
250 100
200 80
150 60
1mm 1mm
100 10mm 40 10mm
Distance Resolution Distance Resolution
50 20
0 0
0 1 2 3 4 5 6 7 8 9 10 0 200 400 600 800 1000 1200 1400 1600 1800 2000 2200
Sensing Angular Resolution Scanning Time Resolution(ms)
Arrival time according to the ultrasonic Arrival time according to the ultrasonic
scanning degree resolution scanning time interval

Experimental Evaluation
Initial position of robots Experimental test using multi micro robots

Conclusions
Simple and efficient path planner
Local minimum problem

New concept to escape local minimum
Extra potential
Simulations and Experiments

Extra Potential - absolutely eliminate local minima
Line Formation of Clustering Robot
Line formation using virtual hill concept

SLAM
What is SLAM ?
Where am I?
SLAM addresses two key problems in

Robotics
Robot Localization,
Where am I?
Robot Mapping,
What does the world look like?
Goal: Simultaneously estimate both
Map & Robot Location!
From Wikipedia, the free encyclopedia

SLAM
Definition
Simultaneous localization and mapping

(SLAM) is a technique used by
robots and autonomous vehicles
to build up a map within an unknown
environment (without a priori knowledge),
or
to update a map within a known
environment (with a priori knowledge
from a given map),
while at the same time keeping track of
their current location.
From Wikipedia, the free encyclopedia

SLAM Applications
Oil Pipeline Inspection
Ocean Surveying & Underwater Navigation
Mine Exploration
Coral Reef Inspection
Military Applications
Crime Scene Investigation

SLAM
Goal
Simultaneously estimate both Map and Robot Location.
How to estimate
It is possible to address both problems in
Stochastic Framework simultaneously.
M. Csorba : PhD Thesis - Oxford 1997
P. Newman : PhD Thesis - ACFR 1999
Probability is the key to estimate both!

Early work to solve SLAM
R.C. Smith, M. Self, P. Cheeseman

"On the Representation and Estimation
of Spatial Uncertainty, The
International Journal of Robotics
Research 5 (4): 5668., 1986
"Estimating Uncertain Spatial
Relationships in Robotics, UAI '86.
University of Pennsylvania, pp. 435461.,
1986
Bayesian formulation to estimate Spatial
Relationships between Landmarks +
estimate Robot Position

SLAM - Formalized

SLAM - Formalized

Early work to solve SLAM

p( A B) p( A B)
p( B | A) , p ( A | B)
p( A) p ( B)
Bayesian Estimation p( A B) p( A) p( B | A) p( B) p( A | B)
p( D | H ) p( H ) H : Hypothesis
p ( H | D)
p ( D) D : Data
p( D | H ) : likelihood, usually known by the experimenter

p( H ) : prior, reflects ones prior knowledge
n
p ( D) p ( D | H i ) p ( H i ) before the data are considered
i 1
p( H | D) : posterior, reflect the probability of the hypothesis
after consideration of the data
Bayesian approach : to construct the posterior probability density

function (PDF) of the state given all measurements.

Solutions to SLAM
Two main approaches to solving SLAM
1. Kalman Filtering Approaches

Kalman Filter approximates the posterior as a Gaussian
Smith et al. Robotics Research 1987
2. Particle Filtering Approaches

Particle Filters solve this by estimating a general PDF using sampling
techniques
FastSLAM, DP-SLAM

Kalman Filtering Approaches

Introduction
In 1960, R.E. Kalman published his famous paper describing a
recursive solution to the discrete-data linear filtering problem.
Since that time, due in large part to advances in digital computing
Kalman Filter Model x k A k x k 1 Buk 1 w k 1
y k H k xk v k
The process and measurement noise are assumed to be independent
(of each other), white, and with normal probability distributions
p(w) ~ N (0, Q),

p( v) ~ N (0, R).

Advantages
Simple to implement
Works well in practice
Disadvantages
Assumes Uni-modal Gaussian Probability distributions
Linear Motion Model
Time complexity O(n3) due to matrix inversion


Kalman Filter
Linear motion model
Zero-mean Gaussian noise, unimodal distribution
Extended Kalman Filter (EKF)
Slightly nonlinear motion model (first order approximation)
Unscented Kalman Filter (UKF)

Nonlinear motion model (second order general, third order gaussian)

Basic of Kalman Filter

We define x k to be our a priori state estimate at step k given
knowledge of the process prior to step k ,
And x k to be our a posteriori state estimate at step k given
measurement z k .
We can define a priori and a posteriori estimate errors
e k x k x k
e k x k x k ,
The estimate error covariance is
Pk E[ek (ek )T ]
Pk E[ek ek T ]


x k A k x k 1 Buk 1 w k 1
y k H k xk v k
x k x k K k (y k Hk x k ) x k A k x k 1 Buk 1
The difference (y k Hk x k ) is called the measurement innovation, or

the residual, R .
The residual reflects the discrepancy between the predicted
measurement H k x k and the actual measurement y k .
A residual of zero means that the two are in complete agreement.
K is chosen to be the gain or blending factor that minimizes a

posteriori error covariance, Pk E[ek ek T ] . ek xk xk , R y k Hk x k
Pk HT
Kk Pk E[ek ek T ek ek T ] 0
HPk HT R


Pk HT
Kk
HPk HT R
Approaches zero, the gain K weights the residual more heavily.
lim K k H 1
R 0
On the other hand, as the a priori estimate error covariance

approaches zero, the gain K weights the residual less heavily.
lim

Kk 0
Pk 0

As the a priori estimate error covariance Pk approaches zero the
actual measurement y k is trusted less and less, while the predicted
measurement H k x k is trusted more and more.

Kalman Filter Algorithm

The Kalman filter estimates a process recursively :
the filter estimates the process state at some time and then obtains
feedback in the form of measurements.
As such, the equations for the Kalman filter fall into two groups:
- time update equations: predictor equations
- measurement update equations: corrector equations
Pk E[ek (ek )T ] A k Pk 1ATk Q k
Pk E[ek ek T ] Pk K k HPk
The estimation algorithm resembles that of a predictor-corrector

algorithm for solving numerical problems as shown below.

Kalman Filter Algorithm
Initial state and covariance

x 0 , P0
time update
Input x k Ax k 1 Buk 1
u k 1 Pk Ak Pk 1ATk Qk
measurement update
K k Pk HT (HPk HT R)1
Measurement x k x k K k (y k H k x k ) Estimated state
yk x k
Pk Pk K k HPk

Extended Kalman Filter

If the process to be estimated and (or) the measurement relationship
to the process is non-linear?
xk f k (xk 1 , uk 1 , w k 1 )
Non-linear function
y k hk (xk , v k )
Independent, white Gaussian distribution noise

p(w) ~ N (0, Q),
p( v) ~ N (0, R).
The EKF is simply an adhoc state estimator that only

approximates the optimality of Bayes rule by linearization.

Extended Kalman Filter xk f k (xk 1 , uk 1 , w k 1 )
New governing equations that linearize an estimate y k hk (xk , v k )

xk xk A(xk 1 x k 1 ) Ww k 1
y k y k H k (xk 1 x k 1 ) Vv k
The approximate state and measurement vectors

xk f k (x k 1 , u k 1 , 0)
y k hk (xk , 0)
The Jacobian matrix of partial derivatives

f[i ] h[i ]
A[i , j ] (x k 1 , u k 1 , 0) H[i , j ] (x k , 0)
x[ j ] x[ j ]
f[i ] h[i ]
W[i , j ] (x k 1 , u k 1 , 0) V[i , j ] (x k , 0)
w[ j ] v[ j ]

Extended Kalman Filter
the prediction error : ex xk xk k
the measurement residual : ey y k y k k
Governing equations for an error process : linear

exk A(x k 1 x k 1 ) k
ey k H k exk k
New independent, white Gaussian distribution noise

p( k ) ~ N (0, WQWT ),
p( k ) ~ N (0, VRVT ).
Apply Kalman Filter

Extended Kalman Filter Algorithm
Initial state and covarience

x 0 , P0
Calculate Jacovian matrix

f A,W
h H ,V
time update
x k f (x k 1 , uk 1 ,0)
Input
u k 1 Pk Ak Pk 1ATk Wk QWkT
measurement update
K k Pk HT (HPk HT Vk RVKT )1
Measurement
x k x k K k (y k h(x k ,0)) Estimated state
yk x k
Pk Pk K k HPk

EKF SLAM

References
Cormen, Thomas H.; Leiserson, Charles E.; Rivest, Ronald L.; Stein, Clifford , "Section
24.3: Dijkstra's algorithm". Introduction to Algorithms (Second ed.). MIT Press and
McGraw-Hill. pp. 595601, 2001.
Anthony Stentz, The Focussed D* Algorithm Algorithm f or Real-Time Replanning, in
Proceedings of IJCAI-95, August 1995.
S.Nishimura, S.Tsuda, Navigation System, J. of the Robotics Society of Japan, 1999.
Khatib, O. "Real-Time Obstacle Avoidance for Manipulators and Mobile Robots," IEEE
International Conference on Robotics and Automation, Vol. 2, pp. 500~505, 1985.
Borenstein, J. and Koren, Y., 1989, "Real-time Obstacle Avoidance for Fast Mobile
Robots," IEEE Transactions on Systems, Man and Cybernetics, Vol. 19, No. 5, pp.
1179~1187, 1989.
Hwang, Y. K. and Ahuja, N., 1992, "A Potential Field Approach to Path Planning," IEEE
Transactions on Robotics and Automation, Vol. 8, No. 1, pp. 23~32, 1992.
Min-Gyu Park, Min-Cheol Lee, "A New Technique to Escape Local Minimum in Artificial
Potential Field Based Path Planning", Int. Journal KSME, Vol.17 , No.12, pp.1876-1885,
December2003(SCIE).
References
Andrew Hogue, Simultaneous Localization and Mapping - SLAM, York University, 2005
Hugh Durrant-Whyte, Tim Bailey, Simultaneous Localization and Mapping (SLAM): Part I
The Essential Algorithms
Paul Newman, Kin Ho, SLAM- Loop Closing with Visually Salient Features, Oxford
University Robotics Research Group
Raja Chatila, SLAM: Representation Issues, LAAS-CNRS
Nosan Kwak, Beom-Hee Lee, Kazuhito Yokoi, Result Representation of Rao-Blackwellized
Particle Filter for Mobile Robot SLAM
Lecture 17: FastSLAM, CS 344R/393R : Robotics, Benjamin Kuipers

References

T H A N K S !!!
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Creative Advanced Robotics

Introduction of Path Planning and

School of Mechanical Engineering, Pusan National University

Prof. Min Cheol Lee

Special Topics of Creative Advanced Robotics 1/100

2. Mobile Robot and Autonomous Vehicle Technique

Global Path Planning

Local Path Planning APF with Virtual Hill

4. Simulation, Experiment and Its Application

Special Topics of Creative Advanced Robotics 2/100

Special Topics of Creative Advanced Robotics 3/100

Special Topics of Creative Advanced Robotics 4/100

Special Topics of Creative Advanced Robotics 5/100

TSUKUBA CHALLENGE 2011

Special Topics of Creative Advanced Robotics 6/100

Navigation Technologies Path Control

Special Topics of Creative Advanced Robotics 7/100

Navigation-Global Path Planning

DARPA Grand Challenge

Autonomous Vehicle Competition

Special Topics of Creative Advanced Robotics 9/100

Autonomous Vehicle Technique

Sensors for environment recognition

Autonomous Mobile Technique

< Autonomous Mobile Robot with Environment Recognization >

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Autonomous Mobile Technique

Distance Recognition Sensor(Lidar, Laser Range Finder)

Recognition of driving environment

Autonomous Mobile Technique

Lidar, Laser Range Finder: Long Distance, High Resolution UGV

Model LMS291 of SICK Data Acquisition Results from SICKLRF

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Autonomous Mobile Technique

GPS Based Localization system

Bumblebee2 of POINT GREY

Road recognition using vision sensor in DARPA Grand Challenge

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Robot Path Planning Start

without Human Help

in Static or Dynamic Environments x [m] y [m]

in 2-dimentional or 3-dimentional Environments

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Global Known Environment

Global Local Global + Local

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Heuristic (incomplete) Algorithms

Artificial Potential Field Approach

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Global Path Planning

Path Cost function: h(G, X )

DARPA GRAND CHALLENGE

Global Path Planning

Path planning algorithm s of 35 teams Path planning algorithm s of top 10 in

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Korea Humanoid Robot - Hubo - DRC Final Winner

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Local Path Planning - APF

Local minimum problem

New approach to escape local minimum