SLAM the SLAM the RobotsRobotsMargaret JefferiesMargaret Jefferies

Department of Computer Department of Computer Science Science

University of WaikatoUniversity of Waikato

Autonomous Mobile RobotsAutonomous Mobile Robots

andand

SLAM!SLAM!

Some Real RobotsSome Real Robots

Robots might not be taking over the world any time soon but they could soon rule the roost if most New Zealanders have their way.

More than two-thirds of New Zealanders would welcome robots to do chores around the house, according to a study of 750 people, commissioned by Honda. Most people wanted robots to help with housework, many wanted an extra mechanical hand with the washing up and some wanted a robot to mow the lawns.

Politicians and the All Blacks need to watch their backs – some respondents suggested robots should replace politicians and that a team of robots might fare better than the present rugby team.

Some people said they would even swap their partners for robots. Women were keener for a robotic partner, with 5.5 per cent saying they would like to switch, compared with just 3.3 per cent of men wanting to replace their partner.

Autonomous Mobile Robots Autonomous Mobile Robots needneed

• SensorsSensors– Lasers, sonar, cameraLasers, sonar, camera

• Control behaviourControl behaviour– A strategy for moving aroundA strategy for moving around– Obstacle avoidanceObstacle avoidance

• A map of the environment A map of the environment • LocalisationLocalisation

– A way of figuring out where it isA way of figuring out where it is

• A plan for getting to its goal A plan for getting to its goal

SensingSensing

• Range sensors very popularRange sensors very popular– Reflected light or soundReflected light or sound– Time of flightTime of flight– Not too much data Not too much data

• Camera sensor not so popularCamera sensor not so popular– Too much dataToo much data

Autonomous Mobile Robots Autonomous Mobile Robots needneed

• SensorsSensors– Lasers, sonar, cameraLasers, sonar, camera

• Control behaviourControl behaviour– A strategy for moving aroundA strategy for moving around– Obstacle avoidanceObstacle avoidance

• A map of the environment A map of the environment • LocalisationLocalisation

– A way of figuring out where it isA way of figuring out where it is

• A plan for getting to its goal A plan for getting to its goal

Control BehaviourControl Behaviour

Control BehaviourControl Behaviour

Control BehaviourControl Behaviour

Obstacle avoidanceObstacle avoidance

Autonomous Mobile Robots Autonomous Mobile Robots needneed

• SensorsSensors– Lasers, sonar, cameraLasers, sonar, camera

• Control behaviourControl behaviour– A strategy for moving aroundA strategy for moving around– Obstacle avoidanceObstacle avoidance

• A map of the environment A map of the environment • LocalisationLocalisation

– A way of figuring out where it isA way of figuring out where it is

• A plan for getting to its goal A plan for getting to its goal

A map of the environment

Lego robot

LocalisationLocalisation

Simultaneous Mapping and Simultaneous Mapping and LocalisationLocalisation

SLAMSLAM

PlanningPlanning

goal

start

PlanningPlanning

goal

start

What do you need to study What do you need to study roboticsrobotics

At School

Essential - MathematicsEnglish

Useful - Physics

At University

Essential - Computer ScienceMathematics

Useful - Physics