- 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, http://ais.informatik.uni-freiburg.de)
- 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.