Transcript Intelligent Mobile Robotics

Autonomous Intelligent
Mobile Robotics
Jerry Weinberg
Associate Professor
Computer Science
What is a Robot?
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.
Humans vs. Robots
People
Robots
Bones
Mechanical Structure
Muscles
Effectors
Senses
Sensors
Digestion/Respiration
AC/DC Power
Brain
Computer
Knowledge
Program
Robot Body: LEGO Pieces
LEGO Mindstorm RCX
3 Output or Motor Ports (A, B, C)
3 Input or Sensor Prots (1, 2, 3)
IR Transmitter/Reciever
Programming Your Bot
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
Where are the Robots?
• Industrial Robots
Where are the Robots?
• Service Robots
Where are the Robots?
• Exploration
Where are the Robots?
• Medicine
Where are the Robots?
• Consumer Robots
Why Study Robotics?
• Integrated Systems
Engineering
– Mechanical Engineering
– Electrical Engineering
– Computer Science
Continental's electronic stability system analyzes data from many
sensors. When the sensors indicate a driver is losing control, the system
steadies the vehicle by braking one or more wheels or by slowing down
the engine.
Why Study Robotics?
• Real-time Systems
Why Study Robotics?
• Multitasking
Spectrum of Robot Control
Reactive/Behavior-Based Robot
Control
• Ignores world models
• “The world is its own
best model”
Sense
Act
Situated Activity
Design
• Robot actions are based on the
situations in which it finds itself
• Perception characterized by
recognizing what situations it is
in and choosing an appropriate
action
Finite State Machine
The Game
RoboCraft
Finding Inspiration
• Constructopedia
• Nature
• Web
www.legomindstorms.com
www.lugnet.com/robotics/rcx
roboti.cs.siue.edu