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Published: 2013-05-25 at 13:50
Colloquium "Efficient navigation...

The 24th colloquium under the auspices of the ACROSS project held by dr. sc. Marija Đakulović.

Colloquium details
Title Efficient navigation for any-shape holonomic mobile robots
Speaker dr. sc. Marija Đakulović
Date 24. 5. 2013. 14:15 - 15:15
Location Faculty of Electrical Engineering and Computing, Gray Hall

More about the speaker and colloquium can be found in the detailed colloquium content.

Abstract:

Nowadays mobile robots get larger and applicable for industry, with shape no longer circular or convex. Furthermore, overhanging payloads increase the complexity of the resulting footprint. The talk presented a navigation strategy for an holonomic mobile robot with any-shape footprint, developed at Uni Freiburg. Many approaches in robotics approximate the robot with a circle in order to provide an efficient solution by searching in 2D space of positions. This assumption potentially limits the mobility of non-circular robots in narrow passages. Performing a search on a large 3D configuration space is computationally expensive and not suitable for online applications in dynamic environments, where new plans need to be recalculated within a short period of time. The talk presented a compact representation of the discretized free space to compute fast-to-update plans. In particular, they create a graph of valid orientation intervals on top of non-occupied locations on a grid map. Using this representation we furthermore introduce a continuous motion generation approach that computes smooth motions in highly reactive manner and is proven to be asymptotically stable. Efficiency of the approach both by simulations and experiments using a real holonomic L-shaped robot omniRob by KUKA was shown.
 
 
CV:

Marija Đakulović (born Seder) is a postdoctoral researcher and a senior assistant at UNIZG-FER. She received the M.Sc. degree in Electrical Engineering from the FER Zagreb in 2004. In 2010 she received a PhD degree at UNIZG-FER. Period from September 2012 to April 2013 she spent at the Autonomous System Laboratory, University of Freiburg, Germany, as a visiting researcher, working on navigation for rectangular-shape holonomic mobile robot omniRob by KUKA. Her main research interests are mobile robotics, especially path planning, motion planning, obstacle avoidance and environment exploration.

Mario Bukal
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FUNDING
 

ACROSS project has received research funding from the Seventh Framework Programme of the European Union (Grant Agreement No. 285939 FP7-REGPOT-2011-1).


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