autonomous intelligent mobile robotics jerry weinberg associate professor ross mead robot scientist...
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Autonomous Intelligent Mobile Robotics
Jerry WeinbergAssociate Professor
Ross MeadRobot Scientist
Computer Science
What is a Robot?
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What is An Intelligent Robot?
• An autonomous system which exists in the physical world, can sense its environment, and can act on it to achieve some goals.
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Living Autonomously
• An autonomous robot acts on its own decisions
• Robots are not directly controlled by humans– Can take input and advice from humans
• Robots are not teleoperated– Making them much more difficult and
interesting than Battlebots
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Autonomous Mobile Robots have to Solve Difficult Problems
• Where am I? – Localization Problem
• How do I get there? – Path Finding Problem
• How do I find the door? – Object Recognition Problem
• What are you asking me to do?– Language Understanding Problem
• How can I tell you the answer to your question?– Speech Generation Problem
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Sensing the Environment
• Sensors allow the robot to perceive its environment to get information that allows it to make decisions– Humans have 6 senses what are they?– What sensors does a robot need?
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Acting on the Environment
• Robots have effectors that allow it to change the state of the world– What are human effectors?– What effectors can robots have?
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Achieving a Goal
• Achieving a goal requires intelligent decision making– Artificial Intelligence
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LEGO Mindstorm RCX
3 Output or Motor Ports (A, B, C)
3 Input or Sensor Ports (1, 2, 3)
IR Transmitter/Receiver
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Programming Your Bot
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Spectrum of Self-Control
Teleoperation: Human Control
Shared Human – Robot Control
Remote-Controlled Rats
Autonomous (AI) Control
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Spectrum of AI Robot Control
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Reactive/Behavior-Based Robot Control
• Ignores world models
Sense Act
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Finite State Machine
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The Game
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Finding Inspiration• Constructopedia• Nature• Web
www.legomindstorms.com
www.lugnet.com/robotics/rcx
roboti.cs.siue.edu