Motion Capture System and Mobile Robot Vehicle for Indoor Autonomous Navigation Research

用于室内自主导航研究的运动捕捉系统和移动机器人车辆

• 批准号: RTI-2017-00807
• 负责人: Zhang, Hong
• 金额: $ 2.67万
• 依托单位: University of Alberta
• 依托单位国家: 加拿大
• 项目类别: Research Tools and Instruments
• 财政年份: 2016
• 资助国家: 加拿大
• 起止时间: 2016-01-01 至 2017-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=616771
• 关键词: Motion; Capture; System; Mobile; Robot

A central issue in robotics research is to determine the position of an entity of interest accurately in the physical space such as the position of a robot, a visual landmark or an object being manipulated by a robot. This information is critical for quantitatively evaluating the performance of a robot localization and mapping algorithm or method, for creating benchmarks and ground truth to compare competing robotics solutions, and sometimes for sensing the robot position for its control. Although originally developed for capturing human movements, motion capture has become a widely used measurement tool in robotics to meet the needs described above. This proposal requests funding for such a system in order to allow robotics researchers at the University of Alberta to conduct their studies effectively. The PI and Co-PI of this proposal actively conduct research in autonomous robot navigation and mobile robot manipulation, in the Department of Computing Science. The PI’s work in simultaneous localization and mapping or SLAM attempts to build an accurate three-dimensional description of the environment (map) while localizing the robot within the map at the same time. The Co-PI, Professor Martin Jagersand, is interested in object manipulation by a robot arm on a mobile platform where a vision system must determine the position of the object sufficiently accurately for its manipulation. All these studies critically depend on the availability of the requested motion capture system, in order to physically implement robot navigation or control algorithms and quantify their performance. The requested motion capture system represents a shared infrastructure that places the U of A on par with leading robotics research institutions in the world. Finally, a ground robot is also requested to replace the aging indoor mobile robots (a Pioneer robot and a NAO robot) being used in the Robotics Research Laboratory to study autonomous robot navigation.

机器人研究的一个中心问题是准确确定物理空间中感兴趣实体的位置，例如机器人的位置、视觉地标或机器人操纵的物体。此信息对于定量评估性能至关重要。机器人定位和映射算法或方法的一部分，用于创建基准和地面实况来比较竞争的机器人解决方案，有时还用于感测机器人位置以进行控制。机器人技术可以满足上述需求。该提案要求为这样一个系统提供资金，以便阿尔伯塔大学的机器人研究人员能够有效地进行研究。 该提案的 PI 和 Co-PI 在计算科学系积极开展自主机器人导航和移动机器人操纵方面的研究，PI 在同步定位和建图或 SLAM 方面的工作试图建立准确的环境三维描述。 （地图），同时在地图内定位机器人 联合首席研究员 Martin Jagersand 教授对移动平台上的机器人手臂的物体操纵感兴趣，其中视觉系统必须足够准确地确定物体的位置。为其操纵。研究很大程度上取决于所请求的动作捕捉系统的可用性，以便物理地实现机器人导航或控制算法并量化其性能。所请求的动作捕捉系统代表了一个共享基础设施，使阿尔伯塔大学与领先的机器人研究机构处于同等水平。在世界上。 最后，还要求使用地面机器人来取代机器人研究实验室中使用的老化室内移动机器人（Pioneer 机器人和 NAO 机器人），以研究自主机器人导航。