Task Identification and Characterisation in Mobile Robotics
نویسندگان
چکیده
The RobotMODIC project run by the Universities of Essex and Sheffield investigates ways of quantitative description and accurate, transparent modelling of robot-environment interaction. Transparent, analysable models allow the evaluation of robot controllers with regard to issues such as stability, relevance of individual sensor perceptions for the control task at hand, and quantitative comparison of different approaches to robot control. In this paper we specifically discuss the problem of task identification. Using the example of a simple wall-following program, we present transparent polynomial models that achieve similar behaviour to the original controller. ARMAX and NARMAX modelling methods have been used to obtain these models.
منابع مشابه
Task identification and characterisation in mobile robotics through non-linear modelling
The lack of a theory-based design methodology for mobile robot control programs means that control programs have to be developed through an empirical trial-and-error process. This can be costly, time consuming and error prone. In this paper we show how to develop a theory of robot–environment interaction, which would overcome the above problem. We show how we can model a mobile robot’s task (so...
متن کاملRobot Programming through a Combination of Manual Training and System Identification
In this paper we present a novel procedure to obtain the control code for a mobile robot executing sensor-motor tasks. The process works in two stages: First, the robot is controlled by a human operator who manually guides the robot through the sensor-motor task. The robot’s motion is then “identified”, using the NARMAX system identification technique. This process, which we refer to as RobotMO...
متن کاملVisual Tracking using Learning Histogram of Oriented Gradients by SVM on Mobile Robot
The intelligence of a mobile robot is highly dependent on its vision. The main objective of an intelligent mobile robot is in its ability to the online image processing, object detection, and especially visual tracking which is a complex task in stochastic environments. Tracking algorithms suffer from sequence challenges such as illumination variation, occlusion, and background clutter, so an a...
متن کاملTowards Automated Code Generation for Autonomous Mobile Robots
With the expected growth in mobile robotics the demand for expertise to develop robot control code will also increase. As end-users cannot be expected to develop this control code themselves, a more elegant solution would be to allow the end-users to teach the robot by demonstrating the task. In this paper we show how route learning tasks may be “translated” directly into robot control code sim...
متن کاملRobot learning through task identification
The operation of an autonomous mobile robot in a semi-structured environment is a complex, usually non-linear and partly unpredictable process. Lacking a theory of robot–environment interaction that allows the design of robot control code based on theoretical analysis, roboticists still have to resort to trial-and-error methods in mobile robotics. The RobotMODIC project aims to develop a theore...
متن کامل