# Maze Solving with an AIBO

Document Sample

```					Maze Solving with an AIBO

Bernard Maassen, Hans Kuipers,
Max Waaijers & Andrew Koster
2005
Introduction
   Problem:
   Performed Research:
   Theseus found his way out of the Labyrinth
   Using IR for Maze Navigation, CMU
   www.cs.cmu.edu/~tekkotsu/media/pgss_2004_paper.pdf
   Many competitions
   Many geometric algorithms for edge
recognition and L-shapes
   Computational Geometry: Algorithms and Applications
Introduction
   Why?
   Many aspects, like:
   Vision
   World modeling
   Self localization
   Socially relevant:
   Rescue robots need to navigate maze-like
environments
Problem Description
   3 Problems:
   Landmark detection
   Map construction
   AIBO uses map to solve maze
   Collision prevention/detection
Landmark detection
   Edge detection using scanlines
   Only look below ‘horizon’
Landmark detection
   Possible Intersections
Landmark detection
   Possible Intersections
Landmark detection
   Possible Intersections
Map construction
   On each landmark update graph
   Remember
   Type of landmark
   Current location
   Use depth first search to explore
   Initially simple mazes, later on more
complex ones.
Complications
   Maze contains loops
   Need to use distances as well as type of
intersection
   Different mazes
   Curves
   5-way intersections
   Other
AIBO uses map to solve maze
   Random initial location in maze
   Use Bayesian filters to determine most
likely location
   Find exit
Possible problems
   Missing landmarks
   Walking into walls
   Odometry not reliable
Backup plan
   Reinforcement learning with joystick
   Simpler
   Uses joystick to train
   Uses odometry data in stead of vision
Milestone 1
   Joystick walking
   Integrate into DARPA modules
   Collect odometry data
Milestone 2a
   Control point if 2b is feasible
   If not extend Joystick module
Milestone 2b
   Landmark detection
   Vision module
   Edge detection + scanlines
   Distinguish intersections
Milestone 3
   Map construction
   Model world as topological map
   Self localization
   Walking through the maze
Milestone 4
   Maze Solving
   Find place in world
   Use map to find path to exit
   Exit maze
Milestones
   Milestone   1: 30-9
   Milestone   2a: 19-10
   Milestone   2b: 26-10
   Milestone   3: 1-11
   Milestone   4: 11-11
Vragen?

```
DOCUMENT INFO
Shared By:
Categories:
Tags:
Stats:
 views: 5 posted: 9/1/2012 language: English pages: 20