Project Proposal Coffee delivery mission Oct, 3, 2007 NSH 3211 Hyun Soo Park, Iacopo Gentilini Robotic Motion Planning Potential Field Techniques 1

Problem definition - Sensor based robot delivers coffee to start position to goal position. - Map robot built may differ from actual situation which means the obstacles which move slower than robot can be appeared. - Data obtained by sensors may not be exact. - There may be a lot of uncertainties. Suggested solution - At first, robot builds map with perfect position data. - The robot plans map using D* search. - The robot updates current position and states from landmarks using Kalman filter.

Kalman Filtering (SLAM) Demo - After map building, robot follows its path to the goal but if it faces any unexpected obstacles, the robot avoids it dynamically. Estimator Robot PredictCorrectLQ input (optimal) Division of works - Hyun Soo Park : Path planning using D* algorithm and map building - Iacopo Gentilini : Image ultrasonic sensor data processing -Together : Kalman filtering