Advanced control of robotic systems using low cost sensors

使用低成本传感器对机器人系统进行高级控制

• 批准号: 121639-2007
• 负责人: Gourdeau, Richard
• 金额: $ 1.17万
• 依托单位: École Polytechnique de Montréal
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2007
• 资助国家: 加拿大
• 起止时间: 2007-01-01 至 2008-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=363245
• 关键词: Advanced; control; robotic; systems; using

Mobile robots must carry out increasingly complex tasks involving collaboration between two or more robots. These new conditions require a better knowledge of the environment, of the position of the robot,and of forces applied to and by the robot in a more precise manner than permitted by traditional approaches. The increasing power of embedded microprocessors, the higher quality of small video cameras, the miniaturization of sensors (accelerometers, gyro-meters, ...) using MEMS technologies (Micro-Electro-Mechanical Systems), combined with lower costs of production open the door to the utilization and integration of these technologies in robotics applications which could not cope with the size and weight of traditional sensors.For example, a mobile robot should be able to navigate on a planar surface with accuracy using odometric measurements to follow the prescribed path. However, inaccuracies about the exact robot geometry, sliding between the wheels and the ground, and reorientation of the robot after a collision with an obstacle will generate increasing errors in position estimates. Using data from additional sensors  (acceleration, angular velocity, landmarks detected by vision, ...), we aim to provide a level of accuracy not yet reached for state estimation given the huge reduction in mass, size and power consumption of new sensors compared to traditional sensors.The goal of this project is to develop robotic control systems taking full advantage of recent technical breakthroughs in the fabrication of small low cost sensors.

移动的机器人必须执行越来越复杂的任务，涉及两个或多个机器人之间的协作。这些新的条件需要更好地了解环境，机器人的位置，以及以比传统方法所允许的更精确的方式施加到机器人和由机器人施加的力。嵌入式微处理器的功率不断增加，小型摄像机的质量不断提高，传感器（加速度计、陀螺仪等）的小型化。使用MEMS技术（微机电系统），结合较低的生产成本，为这些技术在机器人应用中的利用和集成打开了大门，这些技术无法科普传统传感器的尺寸和重量。例如，移动的机器人应该能够使用里程测量在平面上精确导航以遵循规定的路径。然而，关于精确机器人几何形状的不准确性、在轮子和地面之间的滑动以及在与障碍物碰撞之后机器人的重新定向将在位置估计中产生增加的误差。使用来自附加传感器的数据（加速度、角速度、视觉检测到的地标.），我们的目标是提供一个精确的水平尚未达到状态估计的质量，尺寸和功耗的巨大减少的新传感器相比，传统的传感器。2这个项目的目标是开发机器人控制系统充分利用最近的技术突破，在制造小型低成本传感器。