Safe Navigation of Robots in a Dynamic and Uncertain World

机器人在动态和不确定的世界中安全导航

• 批准号: RGPIN-2019-04365
• 负责人: Barfoot, Timothy
• 金额: $ 4.66万
• 依托单位: University of Toronto
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2020
• 资助国家: 加拿大
• 起止时间: 2020-01-01 至 2021-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=713442
• 关键词: Safe; Navigation; Robots; Dynamic; Uncertain

Robotics is poised to revolutionize several aspects of our society in the coming years from the way we move people and things around to healthcare to manufacturing. In particular, mobile robotics technology has matured to the point that self-driving cars and unmanned aerial vehicles (a.k.a., drones) are being actively pursued by industry, from small startups to the world's technology giants. While some products will come to market in the next few years, they will not be fully autonomous, meaning they will not operate under all conditions that a human operator can handle. To achieve this, a great deal more research is needed. Real applications of mobile robots are challenging because the operating environment (e.g., our roadways, our skies, big warehouses) can be large, cluttered, dynamic, and unknown/uncertain. This means that the key autonomy functions, which include localization, mapping, planning, and control, must address these challenges. Within robotics, we have barely scratched the surface when it comes to making systems that can operate for very long periods of time without human assistance. This program of research will continue to tackle these long-term autonomy challenges associated with localization, mapping, planning, and control of mobile robots. In particular, we will address (i) robust localization, (ii) multi-object tracking and prediction, (iii) knowledge/uncertainty representation, and (iv) safe planning. Tackling these issues will require novel sensing modalities, new algorithms rooted in machine learning and control/estimation theory, exploitation of big data/cloud computing, and extensive field testing. We will create new autonomy software comprising all the key functions needed to navigate mobile robots through a dynamic and uncertain world. As we do so, we will work closely with industrial partners to transfer our technology to real-world applications such as warehouse robots, self-driving cars, and drone delivery systems. Canada is rapidly growing its capabilities in these areas and we hope to make big contributions in terms of the technology and people needed to shape the future.

机器人技术将在未来几年彻底改变我们社会的几个方面，从我们移动人和物的方式到医疗保健再到制造业。特别是，移动机器人技术已经成熟，从小型创业公司到世界科技巨头，各行各业都在积极追求自动驾驶汽车和无人驾驶飞行器（无人机）。虽然一些产品将在未来几年上市，但它们不会完全自主，这意味着它们不会在人类操作员可以处理的所有条件下运行。要做到这一点，还需要进行大量的研究。