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TitleChristoph Sprunk (Ph.D. student)2012-04-12 18:16
  • Title: High Precision Navigation
  • Date: 2011/04/11 (Wed.) 14:30-17:00
    ????????14:30 - 15:30 Christoph Sprunk's talk
    ??????? 15:30 - 17:00 In-Depth Discussion
  • Venue: Lecture Room 307, W-16 Building (Geo-centrifuge center), KAIST
  • Speaker: Christoph Sprunk (Ph.D. student, Univ. of Freiburg, Germany,
  • Abstract: In this talk we present our recent work on precise and accurate navigation of differential drive and omnidirectional robots. Our approach to navigation employs a novel parametric path model. It is based on quintic B?zier splines and applies optimization of the trajectory shape with respect to a user-defined cost function such as the time of travel. To ensure a precise execution of the planned paths, the paths are curvature-continuous and the planned velocities account for kinodynamic constraints.
    To further improve the positioning accuracy at pre-taught goal locations, we augment a particle filter localization with scan matching. This approach has been evaluated with an omnidirectional robot in a typical industrial task where we achieved an average positioning accuracy of 5 mm and 0.2 degrees.