annotate 2014/robot.html @ 32:1b92285a767a

add 0804
author Masataka Kohagura <kohagura@cr.ie.u-ryukyu.ac.jp>
date Tue, 04 Aug 2015 19:45:57 +0900
parents ff03dd29fd52
children
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1 <!DOCTYPE html>
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2 <html>
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3 <head>
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4 <meta http-equiv="content-type" content="text/html;charset=utf-8">
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5 <title>Robot Slide</title>
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6
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7 <!--
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8 Notes on CSS media types used:
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9
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10 1) projection -> slideshow mode (display one slide at-a-time; hide all others)
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11 2) screen -> outline mode (display all slides-at-once on screen)
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12 3) print -> print (and print preview)
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13
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14 Note: toggle between projection/screen (that is, slideshow/outline) mode using t-key
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15
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16 Questions, comments?
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17 - send them along to the mailinglist/forum online @ http://groups.google.com/group/webslideshow
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18 -->
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19
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20 <!-- styles -->
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21 <style media="screen,projection">
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22
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23 html,
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24 body,
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25 .presentation { margin: 0; padding: 0; }
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26
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27 .slide { display: none;
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28 position: absolute;
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29 top: 0; left: 0;
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30 margin: 0;
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31 border: none;
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32 padding: 2% 4% 0% 4%; /* css note: order is => top right bottom left */
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33 -moz-box-sizing: border-box;
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34 -webkit-box-sizing: border-box;
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35 box-sizing: border-box;
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36 width: 100%; height: 100%; /* css note: lets use border-box; no need to add padding+border to get to 100% */
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37 overflow-x: hidden; overflow-y: auto;
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38 z-index: 2;
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39 }
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40
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41 .slide.current { display: block; } /* only display current slide in projection mode */
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42
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43 .slide .stepcurrent { color: black; }
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44 .slide .step { color: silver; } /* or hide next steps e.g. .step { visibility: hidden; } */
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45
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46 .slide {
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47 /*
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48 background-image: -webkit-linear-gradient(top, blue, aqua, blue, aqua);
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49 background-image: -moz-linear-gradient(top, blue, aqua, blue, aqua);
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50 */
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51 }
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52 </style>
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53
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54 <style media="screen">
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55 .slide { border-top: 1px solid #888; }
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56 .slide:first-child { border: none; }
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57 </style>
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58
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59 <style media="print">
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60 .slide { page-break-inside: avoid; }
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61 .slide h1 { page-break-after: avoid; }
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62 .slide ul { page-break-inside: avoid; }
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63 </style>
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64
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65
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66 <!-- add js lib (jquery) -->
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67 <script src="js/jquery-1.7.min.js"></script>
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68
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69 <!-- S6 JS -->
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70 <script src="js/jquery.slideshow.js"></script>
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71 <script src="js/jquery.slideshow.counter.js"></script>
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72 <script src="js/jquery.slideshow.controls.js"></script>
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73 <script>
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74 $(document).ready( function() {
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75 Slideshow.init();
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76
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77 // Example 2: Start Off in Outline Mode
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78 // Slideshow.init( { mode: 'outline' } );
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79
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80 // Example 3: Use Custom Transition
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81 // Slideshow.transition = transitionScrollUp;
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82 // Slideshow.init();
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83
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84 // Example 4: Start Off in Autoplay Mode with Custom Transition
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85 // Slideshow.transition = transitionScrollUp;
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86 // Slideshow.init( { mode: 'autoplay' } );
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87 } );
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88 </script>
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89
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90 </head>
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91 <body>
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92
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93
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94 <div class="presentation">
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95
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96 <div class='slide cover'>
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97 <table width="90%" height="90%" border="0" align="center">
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98 <tr>
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99 <td><div align="center">
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100 <h1>A Hierarchical Fuzzy Control Design for Indoor Mobile Robot</h1>
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101 </div>
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102 </td>
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103 </tr>
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104 <tr>
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105 <td><div align="right">
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106 <name>30th May,2014</name>
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107 </div></td>
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108 </tr>
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109 </tr>
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110 </table>
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111 </div>
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112
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113
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114
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115 <div id="cover">
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116 <h1>Abstract</h1>
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117
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118 <ul>
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119 <li>
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120 この論文では、自動制御ロボットの制御方法として fuzzy logic motion control と stereo vision based path-planning module を使用した。
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121 </li>
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122 <li>
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123 どんな未知な環境でも制御できる必要がある。
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124 </li>
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125 <li>
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126 ロボットの目的はターゲットまでに到達することであるが、その移動の過程で予期しない障害物が出現してもうまくかわしてくれる必要がある。
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127 </li>
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128 <li>
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129 この論文のオリジナルな要素として、危機的な状況 ( 障害物で進路が邪魔されている状況 ) で fuzzy rules を使用するだけでなく、stereo vision camera を使用した。
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130 </li>
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131 </ul>
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132 </div>
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133
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134 <div id="cover">
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135 <h1>Introduction(1/2)</h1>
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136 <ul>
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137 <li>
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138 Mobile robot application は日々進化をしており、様々なサービスでも使用されるようになっている。これらは予め決められた行動を遂行するようにチューニングされている。
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139 </li>
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140 <li>
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141 しかし、これらの robot は、想定外の事柄や、様々な環境下に置かれたとしても、 Task が実行される必要がある。
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142 </li>
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143 <li>
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144 unstructured environment : その環境がどういう地形で、障害物がどこにあるのかわからない環境
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145 </li>
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146 <li>
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147 dynamic environment : 障害物が動いてたりと、ロボットの周りが変化するような環境
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148 </li>
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149 <li>
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150 障害物を避ける手法は、たくさんの論文が出ており、今でも新しい手法がつくられる。
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151 それらに応じた fuzzy logic control がすでに存在する。
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152 </li>
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153 <li>
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154 様々な手法によって fuzzy logic control が成功を収めているが、fuzzy logic controller がいかに効果的に If-Then ルールにのっとって最適化するという問題が残っている。
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155 </li>
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156 </ul>
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157 <!-- <a href="http://www.apherrecords.com/">http://www.apherrecords.com/</a> -->
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158 </div>
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159
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160 <div id="cover">
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161 <h1>Introduction(2/2)</h1>
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162 <ul>
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163 <li>
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164 robot には、ultra sonic sensors (US sensor) を使用している。
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165 </li>
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166 <li>
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167 US sensor は 障害物までの距離、壁との関係、vision system をアシストするための機能が付いている。
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168 </li>
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169 <li>
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170 この論文では、ロボットが障害物を避けるときの問題を階層構造として取り扱った。
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171 </li>
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172 </ul>
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173 <!-- <a href="http://www.apherrecords.com/">http://www.apherrecords.com/</a> -->
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174 </div>
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175
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176 <div id="cover">
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177 <h1>Behavioral-based fuzzy control architecture </h1>
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178 <p>Fuzzy control は 3つのステップがある。</p>
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179 <ol>
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180 <li>
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181 Fuzzification<br>
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182 変数を数値で扱うのではなく、アバウトな値として取る。<br>
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183 例) distance = {Zero, Near, Far}
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184 </li>
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185 <li>
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186 Inference engine<br>
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187 IF_THEN ルールにのっとって、input Data、output Dataを定義する。
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188 </li>
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189 <li>
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190 Defuzzification<br>
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191 実数値をアバウトな値に変換する。
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192 </li>
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193 </ol>
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194 <!-- <a href="http://www.apherrecords.com/">http://www.apherrecords.com/</a> -->
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195 </div>
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196
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197 <div id="cover">
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198 <h1>Behavior-based design</h1>
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199 <ul>
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200 <img src="images/fig01.png" width=50%>
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201 <li>
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202 robot のセンサーがそれぞれの振る舞いを決定する。
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203 </li>
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204 <li>
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205 ゴールに到達するまでの振る舞いと、壁との位置関係における振る舞いを合成する。
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206 </li>
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207 <li>
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208 もし障害物があって、それを避けるような振る舞いが起こればそれが最優先される。
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209 </li>
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210 </ul>
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211 <!-- <a href="http://www.apherrecords.com/">http://www.apherrecords.com/</a> -->
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212 </div>
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213
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214 <div id="cover">
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215 <h1>Path following behavior(1/3)</h1>
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216 <p>
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217 ロボットがゴールに到達するまでの振る舞いに関して説明している<br>
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218 </p>
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219 <img src="images/disori.png" width=50%>
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220 <img src="images/velo.png" width=50%>
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221 <!-- <a href="http://www.apherrecords.com/">http://www.apherrecords.com/</a> -->
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222 <ul>
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223 <li>
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224 Distance : 目標までの距離
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225 </li>
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226 <li>
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227 Orientation : 目標に対するロボットの向きの角度
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228 </li>
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229 <li>
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230 Velocity : ロボットの速さ<br>
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231 vl : Velocity of Left wheel<br>
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232 vr : Velocity of Right wheel<br>
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233 </li>
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234 </ul>
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235 </div>
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236
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237 <div id="cover">
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238 <h1>Path following behavior(2/3)</h1>
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239 <img src="images/membership.png" width=40%>
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240 <ul>
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241 <li>
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242 どのように変数をとっているのかを表しているグラフ。
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243 </li>
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244 <li>
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245 例えば、distance が 200 - 300 のとき、NF(Near-Far)となる。
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246 </li>
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247 </ul>
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248 <!-- <a href="http://www.apherrecords.com/">http://www.apherrecords.com/</a> -->
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249 </div>
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250
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251 <div id="cover">
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252 <h1>Path following behavior(3/3)</h1>
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253 <p>
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254 ゴールまでの距離とゴールに対するロボットの向きの角度によるホイールの対応表
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255 </p>
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256 <img src="images/rulefuzzy.png" width=60%>
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257 <p>
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258 例 : If (d is M Λ α is PM) Then (vl is H Λ vr is S)<br>
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259 ゴールまでの距離が M で、ゴールに対するロボットの向きが PM の場合、vl は H 、vr は S の速度で動く。
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260 </p>
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261 <!-- <a href="http://www.apherrecords.com/">http://www.apherrecords.com/</a> -->
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262 </div>
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263
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264 <div id="cover">
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265 <h1>Obstacle avoidance behavior 1st layer(1/4)</h1>
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266 <ul>
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267 <li>
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268 US sensor は 3セット一列横並びで並んでいる。
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269 </li>
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270 <li>
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271 並んでいるそれぞれのセンサーから障害物がどのぐらい離れているか、その障害物のある角度、camera にて避けるときの振る舞いが決定される。
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272 </li>
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273 </ul>
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274 <img src="images/fig7.png" width=60%>
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275 </div>
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276
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277 <div id="cover">
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278 <h1>Obstacle avoidance behavior 1st layer(2/4)</h1>
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279
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280 <img src="images/3ori.png" width=60%>
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281 <ul>
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282 <li>
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283 US sensor は 3セット一列横並びで並んでいる。
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284 </li>
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285 <li>
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286 並んでいるそれぞれのセンサーから障害物がどのぐらい離れているか、その障害物のある角度、camera にて避けるときの振る舞いが決定される。
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287 </li>
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288 <li>
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289 目の前に障害物が現れたとき、どういう避け方をするか決定される.
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290 </li>
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291 <img src="images/steering.png" width=60%>
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292 </ul>
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293 <li>
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294 センサーとの距離と障害物の位置の角度によってロボットが方向転換を行う。
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295 </li>
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296 <img src="images/case.png" width=60%>
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297 </div>
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298
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299
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300 <div id="cover">
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301 <h1>Obstacle avoidance behavior 1st layer(3/4)</h1>
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302 <img src="images/dis2.png" width=60%>
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303 <img src="images/dis3.png" width=60%>
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304 <!-- <a href="http://www.apherrecords.com/">http://www.apherrecords.com/</a> -->
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305 </div>
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306
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307
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308 <div id="cover">
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309 <h1>Obstacle avoidance behavior 1st layer(4/4)</h1>
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310 <img src="images/rule00.png" width=60%>
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311 <img src="images/rule01.png" width=60%>
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312 <!-- <a href="http://www.apherrecords.com/">http://www.apherrecords.com/</a> -->
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313 <ul>
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314 <li>
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315 障害物と、それぞれの3つのセンサーからの距離と角度に対応する振る舞い。
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316 </li>
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317 </ul>
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318
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319 </div>
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320
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321 <div id="cover">
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322 <h1>Obstacle avoidance behavior 2nd layer</h1>
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323 <img src="images/2ndlayer.png" width=60%>
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324 <!-- <a href="http://www.apherrecords.com/">http://www.apherrecords.com/</a> -->
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325 <ul>
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326 <li>
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327 1st layer で出力された結果に基いて、vl、vr の動作が決定される。
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328 </li>
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329 <li>
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330 3rd layer では 2nd layer で決定された振る舞いをホイールに伝える。
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331 </li>
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332 </ul>
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333 </div>
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334
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335 <div id="cover">
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336 <h1>Direct Visual Controlling</h1>
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337 <ul>
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338 <li>
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339 2nd Layer で XX (未定義) の時には、bumblebee というステレオカメラを使用して周りの状況をつかむ。
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340 <a href="http://www.viewplus.co.jp/product/camera/bumblebee.html">http://www.apherrecords.com/</a>
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341 </li>
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342 <img src="images/stereovision.png" width=60%>
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343 <li>
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344 ROI : Region Of Interest 着目領域 (要するにウィンドウ)
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345 </li>
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346 <li>
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347 RANSAC : パラメータ推定のアルゴリズム
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348 </li>
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349 <li>
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350 SLAM : Simultaneous Localization and Mapping<br>
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351 画像解析によって、障害物の情報や避けるための情報を解析する。
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352 </li>
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353 </ul>
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354 </div>
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355
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356 <div id="cover">
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357 <h1>Experimental results(1/7)</h1>
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358 <img src="images/noobs.png" width=50%>
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359 <img src="images/ranobs.png" width=50%>
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360 <!-- <a href="http://www.apherrecords.com/">http://www.apherrecords.com/</a> -->
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361 <ul>
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362 <li>
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363 スムーズに目標に向かって最適な経路をたどっていることがわかる
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364 </li>
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365 </ul>
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366 </div>
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367
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368 <div id="cover">
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369 <h1>Experimental results(2/7)</h1>
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370 <img src="images/cul.png" width=50%>
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371 <!-- <a href="http://www.apherrecords.com/">http://www.apherrecords.com/</a> -->
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372 <ul>
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373 <li>
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374 Cul-de-Sac にハマる前までは、FLMC(Fuzzy-Logic motion controller)で制御されていた。
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375 </li>
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376 <li>
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377 Cul-de-Sac にハマった後では、SVPPM(stereovision based path-planning module)で制御している。
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378 </li>
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379 <li>
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380
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381 </li>
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382 </ul>
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383 </div>
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384
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385
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386 <div id="cover">
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387 <h1>Experimental results(3/7)</h1>
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388 <img src="images/cul2.png" width=50%>
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389 <!-- <a href="http://www.apherrecords.com/">http://www.apherrecords.com/</a> -->
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390 </div>
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391
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392 <div id="cover">
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393 <h1>Experimental results(4/7)</h1>
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394 <img src="images/pedestrian.png" width=50%>
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395 <!-- <a href="http://www.apherrecords.com/">http://www.apherrecords.com/</a> -->
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396 </div>
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397
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398 <div id="cover">
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399 <h1>Experimental results(5/7)</h1>
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400 <img src="images/fast.png" width=50%>
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401 <!-- <a href="http://www.apherrecords.com/">http://www.apherrecords.com/</a> -->
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402 <p>
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403 他の論文の fast_SLAM との比較
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404 </p>
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405 </div>
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406
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407 <div id="cover">
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408 <h1>Experimental results(6/7)</h1>
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409 <img src="images/var.png" width=50%>
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410 <!-- <a href="http://www.apherrecords.com/">http://www.apherrecords.com/</a> -->
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411 <p>
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412 Obstacl と Robot の位置関係による動作の違いと、使用するデバイスによる動作の違い。
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413 </p>
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414 </div>
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415
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416 <div id="cover">
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417 <h1>Experimental results(7/7)</h1>
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418 <img src="images/result.png" width=50%>
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419 <!-- <a href="http://www.apherrecords.com/">http://www.apherrecords.com/</a> -->
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420 <p>
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421 </p>
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422 </div>
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423
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424 <div id="cover">
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425 <h1>Conclusion</h1>
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426 <ul>
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427 <li>
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428 この論文では、Fuzzy control を使ったロボット制御を実装した。
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429 </li>
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430 <li>
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431 複雑な環境下における自動制御の能力が、hierarchical architecture based on fuzzy reasoning によって上昇した。
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432 </li>
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433 <li>
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434 Fuzzy control だけでなく、ステレオカメラを使用することによって、cul-de-sac のような状況を assist できるようにした。
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435 </li>
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436 </ul>
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437 </div>
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438
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439 </div>
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440
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441 </div> <!-- presentation -->
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442 </body>
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443 </html>