Question:

Creating a 2D Map of an Unknown Environment

The learning outcomes that are assessed by this coursework are:

1. A critical awareness of current techniques used for mapping and localisation
2. A comprehensive understanding of stochastic techniques for robot mapping and localisation.
3. Demonstrate originality in the application of knowledge of robot mapping and localisation.

Resources:

For this assignment you will be using the PeopleBot robot (and MobileSim simulator) and the Aria C++ libraries. A program implementing a simple wandering behaviour has been created for you – use this as you starting point. You may only use the robots odometer and sonar sensors to construct the map. The robots laser range finder (SICK) and the Aria Navigation Libraries (SONARNL) should not be used.

Assignment Specification:

You must write a program which creates a 2D map of the robots environment (a small room or arena). The map should take one of the following forms:

• A set of 2D points (co-ordinates).
• A set of line segments.

• An occupancy grid.

Answer:

1.       Introduction

The work is based on the use of the PeopleBot Robot (MobileSim Simulator) that has been working with the C++ libraries. The report is based on the analysis with the Aria C++ library patterns which has been through the use of the odometer and the sonar sensors for the proper construction of the map. (Schmitz et al., 2015). The activity set for the simulation process with the debugging and the experimentation is mainly with ARIA that is able to support and handle the different forms of the ActivMedia/MobileRobot Platforms. This is set with the simulation control connection that has been easily accessible through the TCP port as well.

2.       Map Construction Technique

The setup of the device model parameters is customised with the configuration file and the new models which are based on the working of the existing models as well. The connection to the TCP system with the use of the MobileRobots, ActivMedia which could easily be simulated with the full source code format. The defined forms are set under the customised model structure where the differential forms of the drive is set or the omnidirectional robots, with the laser, and sonar. The 2D map construction technique for the robotic environment is set with the 2D points, line segments and the occupancy grid system. (Pena et al., 2015). This is based on the forms where one can easily view the map in the different forms like:

1. The scatter plot in the Matlab, excel etc.
2. The image format.
3. Or the real time image patterns where the use is mainly of the graphics library.

The setup of the system is based on designing the system simulation with the different robots that leads to handle the environment and the multiple robot simulation process. Here, the robots need to be interactive with the repositioning mainly through the GUI system or through the commands with the client software. the visualisation options are set for the sensors as well as the other forms of the technology like the drawing of the robot trails as well as showing the history of the motion, colour and the diagnostic values, visualisation. The configuration is based on the space and the timing resolution as well. (Xafis et al, 2013).

3.       Software Implementation

The MobileSim has been used for the personal computer with the use and creation of the virtual machines through the mobile devices. This allows the user to proper use the features as well as handle the applications on the virtual mobile with the actual mobile device setup. The simulator also helps in determining the performance along with the tests for the different browsers that will emulate the device profiles. The real time and the location of the errors in the code helps in viewing the rending of the environment along with optimisation of the sites for the performance. MobileSim is for the mapping process which has been able to provide the connection that is easily accessible through the TCP port. It also works on the device models and the customisation of the configuration files which are for the new or the existing models. (Papapdakaki et al., 2016). The tools helps in the collection of the utility and the MobileSim helps in converting the PNM bitmap to the .map file. The PeopleBot is for the services of the robot along with handling the human robot interaction process which has been for the robust systems like the P-DX base which includes the extensions as well as the facilitation of the interaction process with the people. The cooperative styling along with the offering of the mobile platform setup is through the connections for the human interaction. The PeopleBot is including the infrared table sensors that are mainly for the detection of the approaches where the tables are set for the DOF gripper as well as with the sensors to handle the pickup of the cup. The features are working on the MobileRobot platforms with the setup of the on-board computer support and the laser navigation package where the ARNL software and the laser finding sensor range is able to easily avoid the obstacles with precision.

4.       Testing and Results

The testing of the MobileSim is on Windows 7 and Ubuntu 12.04 and 14.04 where the binary packages are for the platforms which are below or for the building of the system mainly from the source code file. The testing of the programs could be through the offline process in the simulation with the MobileSim simulator that is able to accompany with the proper development of the environment as well. The research is on the applications as well as the other forms of the human robot interaction research that has been set with the tele-presence applications with the autonomous object search and retrieval process. (Luengo et al, 2014).

The testing and the simulation loop patterns are set with the real world time interval which could be ideally equal with the real time system approach for the performance. The ratio is also monitored with the short running average that is displayed on the MobileSim GUI window. The iteration process along with the update state is set where the commands are read mainly from the client software. The simulation process is from the ArMap file that contains all the obstacle data which has been under certain points or the lines where the robots can easily collide. Hence, this includes the proper localization and the planning depending upon the visibility of the sensor types. (Xafis et al., 2013).

5.       Conclusions

The applications for the PeopleBot is set for the robot with the camera that tends to deal mainly with the robot vision along with handling the on-board computer as well as mainly for the objects and the recognition of the person, tracking and the mapping process. ARIA communicates with MobileSim that is over TCP and for the socket connection. Hence, for this, the simulated robots and the devices need to be on a particular channel where there is a channel set for the connection to the robot.

6.       Bibliography

Schmitz, B., Klemke, R., Walhout, J. and Specht, M., 2015. Attuning a mobile simulation game for school children using a design-based research approach. Computers & Education, 81, pp.35-48.

Pena, G., Altree, M., Babidge, W., Field, J., Hewett, P. and Maddern, G., 2015. Mobile Simulation Unit: taking simulation to the surgical trainee. ANZ journal of surgery, 85(5), pp.339-343.

Xafis, V., Babidge, W., Field, J., Altree, M., Marlow, N. and Maddern, G., 2013. The efficacy of laparoscopic skills training in a Mobile Simulation Unit compared with a fixed site: a comparative study. Surgical endoscopy, 27(7), pp.2606-2612.

Papadakaki, M., Tzamalouka, G., Gnardellis, C., Lajunen, T.J. and Chliaoutakis, J., 2016. Driving performance while using a mobile phone: a simulation study of Greek professional drivers. Transportation research part F: traffic psychology and behaviour, 38, pp.164-170.

Luengo, D. and Martino, L., 2014. 10 Statistical Simulation of Multipath Fading Channels for Mobile Wireless Digital Communication Systems. In Simulation Technologies in Networking and Communications: Selecting the Best Tool for the Test (pp. 265-308). CRC Press.