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Gezgin Robotlarda Ultrasonik Mesafe Algılayıcılarla Robot Davranışlarının Kontrolü Ve Çevre Haritalama

Yıl 2007, Cilt: 20 Sayı: 2, 83 - 106, 31.12.2007

Osman Parlaktuna Elif Eroğlu

Öz

Bu çalışmada gezgin bir robot üzerinde bulunan ultrasonik algılayıcılardan ve kodlayıcıdan alınan verilerden faydalanılarak Bayes güncellemeli doluluk ızgaraları yöntemiyle robotun dolaştığı çevrenin haritası oluşturulmuştur. Harita tespit etmekteki amacımız robotun ve etrafındaki cisimlerin konumlarını bilmek istememizdir. Robotun çevresi ne kadar doğru modellenirse ileriye yönelik planlama davranışları da o kadar başarılı olacaktır. Bu amaçla, duvar bulma, duvar takibi, öndeki ve yandaki engellerden kaçınma, içbükey ve dışbükey köşe dönüşleri, tamponların kontrolü, tekerleğin sıkışma durumundaki kontrolü gibi robotun yapması gereken temel davranışlar geliştirilmiştir. Geliştirilen davranış modeli PIONEER robotlar için tasarlanmış MobilSim simülatörü ve P3-DX robotu ile test edilmiştir. Elde edilen uzaklık bilgilerinden robotun dolaştığı çevrenin haritası başarılı bir şekilde oluşturulmuştur

Anahtar Kelimeler

Gezgin Robotlar Haritalama Ultrasonik Mesafe Algılayıcılar.

Kaynakça

  • [1] Berkay,A., Şeker, M. ve Esin,M., Ultrasonik sonar ile mesafe ve nesne algılama, II. Otomasyon Sempozyumu, İzmir Elektrik Mühendisleri Odası, Manisa, 2003.
  • [2] Murphy, R., Introduction to AI Robotics, MIT Press, London, 2000.
  • [3] Zunino,G., Simultaneous localization and mapping for navigation in realistic environments, Royal Institute of Technology, Stockholm, 2002.
  • [4] Graff, K. F., A History of Ultrasonics, Chapter 1 of Physical Acoustics, Vol. 15, Mason and Thurston, editors, Academic Pres, 1981.
  • [5] Min, B.K., Cho, D.W., Lee, J.S. ve Park, Y. P., Sonar mapping of a mobile robot considering position uncertainity, Robotics & Computer Integrated Manufacturing, Vol. 13, No.1, 41-49, 1997.
  • [6]http://robot.cmpe.boun.edu.tr/593/algilayicilar/4_3_Ses_Temelli_Mesafe_Alg _.html
  • [7] Moravec, H. P., Elfes, A., High resolution maps from wide angle sonar, Proceedings of the IEEE International Conference on Robotics and Automation, 116-121, 1985.
  • [8] Elfes, A., Sonar-based real-world mapping and navigation, IEEE Journal of Robotics and Automation, Vol.3, No.3, 249-265, 1987.
  • [9] Matthies, L., Elfes, A., Integration of sonar and stereo range data using a grid based representation, Proceedings of the 1988 IEEE International Conference on Robotics and Automation, Vol. 2, 727-733, 1988.
  • [10] Bozma, Ö., Kuc R., Building a sonar map in a specular environment using a single mobile sensor, IEEE Trans. Pattern Anal. Mach. Intel., Vol. 13, No. 12, 1260-1269, 1991.
  • [11] Thrun, S., Exploration and model building in mobile robot domains, In Proceedings of IEEE International Conference on Neural Network, Seattle, Washington, USA, IEEE Neural Network Council, 175-180, 1993.
  • [12] Konolige, K., Improved occupancy grid for map building, Autonomous Robots, 351-367, 1997. 104
  • [13] Chong, S.K., Kleeman, L., Mobile-robot map building from an advanced sonar array and accurate odometry, The International Journal of Robotics Research, Vol. 18, No. 1, 20-36, 1999.
  • [14] Burgard W., Fox D., Jans H., Matenar C., Thrun S., Sonar-based mapping with mobile robots using EM, Proc. 16th Int. Conf. On Machine Learning, 67-76, 1999.
  • [15] Thrun S., Burgard, W., Fox,D., A real-time algorithm for mobile robot mapping with applications to multi-robot and 3D mapping, IEEE International Conference on Robotics and Automation, Vol.1, 321-328, 2000.
  • [16] Achour,N., Toumi, R., Building an environment map using a sweeping system based on a single ultrasonic sensor, IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings, Vol. 8, 1329-1333, 2001.
  • [17] Antonaros, G.I., Petrou, L.P., Real time map building by means of an ellipse spatial criterion and sensor-based localization for mobile robot, Journal of Intelligent and Robotic Systems, Vol.30, 331-358, 2001.
  • [18] Chow, K.M., Rad, A.B. ve Ip, Y.L., Enhancement of probabilistic gridbased map for mobile robot applications, Journal of Intelligent and Robotic Systems, Vol.34, 155-174, 2002.
  • [19] O’Sullivan S., An emprical evaluation of map building methodologies in mobile robotics using the feature prediction sonar noise filter and metric grid map benchmarkig suite, Master of Science University of Limerick, Ireland, 2003.
  • [20] Carelli,R, Freire E.O., Corridor navigation and wall-following stable control for sonar based mobile robots, Robotic and Autonomous System, Vol. 45, 235-247, 2003.
  • [21] Hwang, K.S., Chen,Y.J. ve Hong H.C., Autonomous exploring system based on ultrasonic sensory information, Journal of Intelligent and Robotic Systems, Vol.39, 307-331, 2004.
  • [22] Ip, Y.L., Rad, A.B., Incorporation of feature tracking into simultaneous localization and map building via sonar data, Journal of Intelligent and Robotic Systems, Vol. 39, 149-172, 2004. 105
  • [23] Lee, S.J., Cho, D. W., Chung, W.K., Lim, J. H ve Kang, C.U., Featurebased map building using sparse sonar data, Intelligent Robots and Systems (IROS 2005), IEEE/RSJ International Conference, 1648-1652, 2005.
  • [24] Borenstein, J., Koren, Y., Histogramic in – motion mapping for mobile robot obstacle avoidance, IEEE Journal of Robotics and Automation, Vol 7 , No.4, 535-539, 1991.
  • [25] Vaughan, R., Stage: a multiple robot simulator, Technical report, Institute for Robotics and Intelligent Systems IRIS-00-393, School of Engineering, University of Southern California, 2000

Behavıor Control And Envıronment Mappıng Wıth Ultrasonıc Range Sensors In Mobıle Robots

Yıl 2007, Cilt: 20 Sayı: 2, 83 - 106, 31.12.2007

Osman Parlaktuna Elif Eroğlu

Öz

In this study, using the data obtained from ultrasonic range sensors and encoders on a mobile robot, map of the environment around the mobile robot is constructed by occupancy grid method with Bayesian update rule. Purpose of the map building is to know the location of the robot and objects around it. Modelling the environment of the robot accurately will result in more successful behavior planning for the robot. For this purpose, first fundamental behaviors of the robot, such as wall finding, wall following, avoiding front and side obstacles, turning convex and concave corners, controlling bumpers and controlling stalls, are developed. The developed behavior model is simulated with MobilSim simulator which is designed for PIONEER robots, and tested with P3-DX robot. Using the range data, map of the environment of the robot is constructed successfully

Anahtar Kelimeler

Mobile Robots Mapping Ultrasonic Range Sensors..

Kaynakça

  • [1] Berkay,A., Şeker, M. ve Esin,M., Ultrasonik sonar ile mesafe ve nesne algılama, II. Otomasyon Sempozyumu, İzmir Elektrik Mühendisleri Odası, Manisa, 2003.
  • [2] Murphy, R., Introduction to AI Robotics, MIT Press, London, 2000.
  • [3] Zunino,G., Simultaneous localization and mapping for navigation in realistic environments, Royal Institute of Technology, Stockholm, 2002.
  • [4] Graff, K. F., A History of Ultrasonics, Chapter 1 of Physical Acoustics, Vol. 15, Mason and Thurston, editors, Academic Pres, 1981.
  • [5] Min, B.K., Cho, D.W., Lee, J.S. ve Park, Y. P., Sonar mapping of a mobile robot considering position uncertainity, Robotics & Computer Integrated Manufacturing, Vol. 13, No.1, 41-49, 1997.
  • [6]http://robot.cmpe.boun.edu.tr/593/algilayicilar/4_3_Ses_Temelli_Mesafe_Alg _.html
  • [7] Moravec, H. P., Elfes, A., High resolution maps from wide angle sonar, Proceedings of the IEEE International Conference on Robotics and Automation, 116-121, 1985.
  • [8] Elfes, A., Sonar-based real-world mapping and navigation, IEEE Journal of Robotics and Automation, Vol.3, No.3, 249-265, 1987.
  • [9] Matthies, L., Elfes, A., Integration of sonar and stereo range data using a grid based representation, Proceedings of the 1988 IEEE International Conference on Robotics and Automation, Vol. 2, 727-733, 1988.
  • [10] Bozma, Ö., Kuc R., Building a sonar map in a specular environment using a single mobile sensor, IEEE Trans. Pattern Anal. Mach. Intel., Vol. 13, No. 12, 1260-1269, 1991.
  • [11] Thrun, S., Exploration and model building in mobile robot domains, In Proceedings of IEEE International Conference on Neural Network, Seattle, Washington, USA, IEEE Neural Network Council, 175-180, 1993.
  • [12] Konolige, K., Improved occupancy grid for map building, Autonomous Robots, 351-367, 1997. 104
  • [13] Chong, S.K., Kleeman, L., Mobile-robot map building from an advanced sonar array and accurate odometry, The International Journal of Robotics Research, Vol. 18, No. 1, 20-36, 1999.
  • [14] Burgard W., Fox D., Jans H., Matenar C., Thrun S., Sonar-based mapping with mobile robots using EM, Proc. 16th Int. Conf. On Machine Learning, 67-76, 1999.
  • [15] Thrun S., Burgard, W., Fox,D., A real-time algorithm for mobile robot mapping with applications to multi-robot and 3D mapping, IEEE International Conference on Robotics and Automation, Vol.1, 321-328, 2000.
  • [16] Achour,N., Toumi, R., Building an environment map using a sweeping system based on a single ultrasonic sensor, IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings, Vol. 8, 1329-1333, 2001.
  • [17] Antonaros, G.I., Petrou, L.P., Real time map building by means of an ellipse spatial criterion and sensor-based localization for mobile robot, Journal of Intelligent and Robotic Systems, Vol.30, 331-358, 2001.
  • [18] Chow, K.M., Rad, A.B. ve Ip, Y.L., Enhancement of probabilistic gridbased map for mobile robot applications, Journal of Intelligent and Robotic Systems, Vol.34, 155-174, 2002.
  • [19] O’Sullivan S., An emprical evaluation of map building methodologies in mobile robotics using the feature prediction sonar noise filter and metric grid map benchmarkig suite, Master of Science University of Limerick, Ireland, 2003.
  • [20] Carelli,R, Freire E.O., Corridor navigation and wall-following stable control for sonar based mobile robots, Robotic and Autonomous System, Vol. 45, 235-247, 2003.
  • [21] Hwang, K.S., Chen,Y.J. ve Hong H.C., Autonomous exploring system based on ultrasonic sensory information, Journal of Intelligent and Robotic Systems, Vol.39, 307-331, 2004.
  • [22] Ip, Y.L., Rad, A.B., Incorporation of feature tracking into simultaneous localization and map building via sonar data, Journal of Intelligent and Robotic Systems, Vol. 39, 149-172, 2004. 105
  • [23] Lee, S.J., Cho, D. W., Chung, W.K., Lim, J. H ve Kang, C.U., Featurebased map building using sparse sonar data, Intelligent Robots and Systems (IROS 2005), IEEE/RSJ International Conference, 1648-1652, 2005.
  • [24] Borenstein, J., Koren, Y., Histogramic in – motion mapping for mobile robot obstacle avoidance, IEEE Journal of Robotics and Automation, Vol 7 , No.4, 535-539, 1991.
  • [25] Vaughan, R., Stage: a multiple robot simulator, Technical report, Institute for Robotics and Intelligent Systems IRIS-00-393, School of Engineering, University of Southern California, 2000
Toplam 25 adet kaynakça vardır.

Ayrıntılar

Konular Elektrik Mühendisliği
Bölüm Araştırma Makaleleri
Yazarlar

Osman Parlaktuna

Elif Eroğlu

Yayımlanma Tarihi 31 Aralık 2007
Kabul Tarihi 23 Ekim 2007
Yayımlandığı Sayı Yıl 2007 Cilt: 20 Sayı: 2

Kaynak Göster

APA Parlaktuna, O., & Eroğlu, E. (2007). Gezgin Robotlarda Ultrasonik Mesafe Algılayıcılarla Robot Davranışlarının Kontrolü Ve Çevre Haritalama. Eskişehir Osmangazi Üniversitesi Mühendislik Ve Mimarlık Fakültesi Dergisi, 20(2), 83-106.
AMA Parlaktuna O, Eroğlu E. Gezgin Robotlarda Ultrasonik Mesafe Algılayıcılarla Robot Davranışlarının Kontrolü Ve Çevre Haritalama. ESOGÜ Müh Mim Fak Derg. Aralık 2007;20(2):83-106.
Chicago Parlaktuna, Osman, ve Elif Eroğlu. “Gezgin Robotlarda Ultrasonik Mesafe Algılayıcılarla Robot Davranışlarının Kontrolü Ve Çevre Haritalama”. Eskişehir Osmangazi Üniversitesi Mühendislik Ve Mimarlık Fakültesi Dergisi 20, sy. 2 (Aralık 2007): 83-106.
EndNote Parlaktuna O, Eroğlu E (01 Aralık 2007) Gezgin Robotlarda Ultrasonik Mesafe Algılayıcılarla Robot Davranışlarının Kontrolü Ve Çevre Haritalama. Eskişehir Osmangazi Üniversitesi Mühendislik ve Mimarlık Fakültesi Dergisi 20 2 83–106.
IEEE O. Parlaktuna ve E. Eroğlu, “Gezgin Robotlarda Ultrasonik Mesafe Algılayıcılarla Robot Davranışlarının Kontrolü Ve Çevre Haritalama”, ESOGÜ Müh Mim Fak Derg, c. 20, sy. 2, ss. 83–106, 2007.
ISNAD Parlaktuna, Osman - Eroğlu, Elif. “Gezgin Robotlarda Ultrasonik Mesafe Algılayıcılarla Robot Davranışlarının Kontrolü Ve Çevre Haritalama”. Eskişehir Osmangazi Üniversitesi Mühendislik ve Mimarlık Fakültesi Dergisi 20/2 (Aralık 2007), 83-106.
JAMA Parlaktuna O, Eroğlu E. Gezgin Robotlarda Ultrasonik Mesafe Algılayıcılarla Robot Davranışlarının Kontrolü Ve Çevre Haritalama. ESOGÜ Müh Mim Fak Derg. 2007;20:83–106.
MLA Parlaktuna, Osman ve Elif Eroğlu. “Gezgin Robotlarda Ultrasonik Mesafe Algılayıcılarla Robot Davranışlarının Kontrolü Ve Çevre Haritalama”. Eskişehir Osmangazi Üniversitesi Mühendislik Ve Mimarlık Fakültesi Dergisi, c. 20, sy. 2, 2007, ss. 83-106.
Vancouver Parlaktuna O, Eroğlu E. Gezgin Robotlarda Ultrasonik Mesafe Algılayıcılarla Robot Davranışlarının Kontrolü Ve Çevre Haritalama. ESOGÜ Müh Mim Fak Derg. 2007;20(2):83-106.
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