Transcript Humanoid Robots

Humanoid Robot Navigation
in Complex Indoor Environments
Maren Bennewitz
Humanoid Robots Lab
Joint work with Armin Hornung, Johannes Garimort,
Attila Görög, Daniel Maier, Stefan Osswald, Kai Wurm,
Cyrill Stachniss, and Wolfram Burgard
Motivation & Objective
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Humanoid robots bridge the gab between
human and robot navigation
Humanoid robot navigation in complex
indoor environments
Considering objects important for human
navigation
Goals
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Robust techniques for
3D environment modeling
 Localization
 Navigation and action planning
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Challenges arise from
Inherently noisy sensor data
 Inaccurate motion execution
 Huge state space
 Dynamics
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3D World Representation
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Based on octrees
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Probabilistic representation of
occupancy including unknown
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Multi-resolution: Resolution
can be changed efficiently
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Memory efficient
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Open source
http://octomap.sf.net
3D World Model
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Freiburg computer science campus
(292 x 167 x 28 m³, 20 cm resolution)
Accurate 6D Localization
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Monte Carlo localization
using the 3D world model
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Estimation of the 6D pose
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3D coordinate of the torso
Roll, pitch, and yaw angles
Integrated information
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Estimated body movement
Sensor data:
2D laser range scanner, IMU,
and joint encoders
Accurate 6D Localization
Humanoid Navigation
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Given the world model and the localization,
the robot can navigate in the environment
Online Traversability
Estimation
Given sparse 3D laser data
 Learn classifiers (color+texture) to
detect obstacles in images
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Use the Traversability Estimate
for Path Planning
Footstep Planning
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Avoid obstacles by stepping over them
Heuristic search given set of footsteps
Efficient Replanning
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Plans may become invalid due to changes
in the environment
Replanning with D* Lite [Koenig & Likhachev, AAAI 2000]
Extended to continuous footstep locations
Open Problems
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Classification of regions according to
navigation complexity
Open Problems
Classification of regions according to
navigation complexity
 Efficient updating of 3D map
structures
 Representing (movable) objects in
space
 Representing typical configurations of
objects in 3D (e.g., doors, drawers)
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