Autonome Mobile Systeme 2009 (eBook)

Vorwort 5
Inhaltsverzeichnis 7
Advanced Data Logging in RoboCup 11
1 Introduction 11
2 Related Work 13
3 Shared World Model 13
4 Camera Framework and PTU 13
4.1 Observer 14
4.2 Rendering Framework 15
5 Camera Pose Framework 15
5.1 Camera Pose Calculation 16
6 Summary and Future Work 17
References 18
Data Association for Visual Multi-target Tracking Under Splits, Merges and Occlusions 19
1 Introduction 19
2 Overall System Description 20
3 Time Forward Prediction 21
4 Data Association Between Detections and Tracks 22
5 Handling of Split and Merge Effects and Reconstruction of Compatible Object Measurements 23
5.1 Determination of the Point-to-Track Affiliation Probabilities 24
5.2 Point Cloud Based Reconstruction of the Track’s Position and Orientation 24
5.3 Grid-Based Reconstruction of the Track’s Extent 25
6 State, Existence and Observability Innovation 25
7 Experimental Results 26
8 Conclusion 26
References 26
Fusing LIDAR and Vision for Autonomous Dirt Road Following – Incorporating a Visual Feature into the Tentacles Approach 27
1 Introduction 27
2 Driving with Tentacles 28
2.1 Tentacle Evaluation and Selection 28
3 Evaluating Tentacles by Visual Appearances 29
3.1 Perspective Mapping and Gaze Control 29
3.2 Determine Visual Quality 30
4 Rating Tentacles by Color Intensity Feature 31
5 Results and Conclusions 33
6 Acknowledgements 34
References 34
Improved Time-to-Contact Estimation by Using Information from Image Sequences 35
1 Introduction 35
2 Time-to-Contact Calculation 36
2.1 Theory of Time-to-Contact Calculation 36
2.2 TTC Estimation Using Model Equations 37
3 Adaptive Parameter Estimation and Its Effect 38
3.1 Iterative Parameter Estimation 38
3.2 Results of the Proposed Estimation Procedure 38
4 Extension of the Approach to General Movements 39
4.1 Forward Movement with Changing Velocity 40
4.2 Simple Rotational Movement 40
4.3 Cornering 41
4.4 Results 41
5 Conclusions 42
References 42
Monocular Obstacle Detection for Real-World Environments 43
1 Introduction and RelatedWork 43
2 Monocular Scene Reconstruction 44
2.1 State Representation 45
2.2 Feature Tracking 45
2.3 Descriptor Update 46
2.4 Feature Initialization 47
3 Obstacle Detection 47
4 Results 47
5 Conclusion and Future Work 50
References 50
Stereo-Based vs. Monocular 6-DoF Pose Estimation Using Point Features: A Quantitative Comparison 51
1 Introduction 51
2 Accuracy Considerations 53
3 6-DoF Pose Estimation 54
4 Experimental Evaluation 55
5 Discussion and Outlook 57
Acknowledgment 57
References 58
Probabilistisches Belegtheitsfilter zur Schätzungdynamischer Umgebungen unter Verwendung multipler Bewegungsmodelle 59
1 Einleitung 59
2 Probabilistische Belegheitsfilterung mit Gruppen 60
2.1 Zellfeldrepräsentation 60
2.2 Dekomposition der Verbundwahrscheinlichkeit 61
2.3 Modellierung der Gruppen 62
2.4 Berechnung der Filtergleichungen 63
3 Evaluierung 65
4 Zusammenfassung und Ausblick 66
5 Danksagung 66
Literaturverzeichnis 66
A Computational Model of Human Table Tennis for Robot Application 67
1 Introduction 67
1.1 What Can We Learn from Human Table Tennis? 67
1.2 A Review of Robot Table Tennis 68
2 Modelling Human Table Tennis 69
2.1 Movement Phases 69
2.2 Movement Primitive Selection and Parametrization 69
2.3 Movement Generation 70
3 Computational Realization of the Model 70
3.1 Overview 70
3.2 Determining the Goal Parameters 71
3.3 Trajectory Generation 72
4 Evaluations 72
4.1 Simulated Setup 73
4.2 Performance of the Model 73
5 Conclusion 73
References 74
A Vision-Based Trajectory Controller for Autonomous Cleaning Robots 75
1 Introduction 75
2 Biologically Inspired Visual Navigation 76
2.1 Local Visual Homing 76
2.2 Topological Navigation 77
3 Trajectory Controller 77
4 Experiments 78
4.1 Setup 78
4.2 Results 80
5 Summary and Outlook 81
References 82
Automatic Take Off, Hovering and Landing Control for Miniature Helicopters with Low-Cost Onboard Hardware 83
1 Introduction 83
2 Features of the Wii Remote Infrared Camera 84
3 The UAV System 85
4 Retrieving the Pose by Means of Camera and IMU 86
4.1 Pattern Analysis 86
5 Flight Control 86
5.1 Height Controller 87
5.2 Roll/Pitch and Yaw Controller 87
6 Experimental Results 87
7 Conclusion and Future Work 89
References 90
Foot Function in Spring Mass Running 91
1 Introduction 91
2 Methods 92
2.1 Spring-Mass-Model with Foot-Segment 92
2.2 Analyzing Periodic Solutions 92
2.3 Dimensionless Ankle Stiffness 93
3 Results 94
4 Discussion 95
4.1 Leg Stiffness Modulation 96
4.2 Leg Lengthening 97
4.3 Shortcommings of the Model 97
References 98
From Walking to Running 99
1 Introduction 99
2 Methods 100
3 Results 102
4 Discussion 104
Acknowledgments 106
References 106
Generisches Verfahren zur präzisen Pfadverfolgung für Serienfahrzeuggespanne 107
1 Einleitung 107
2 Stand der Technik 108
3 Kinematisches Modell 109
4 Das zweistufige Regelungsverfahren 110
4.1 Bestimmung des Soll-Radius 110
4.2 Bestimmung des Soll-Lenkwinkels 112
5 Evaluierung des Verfahrens 113
6 Zusammenfassung 114
Literaturverzeichnis 114
Learning New Basic Movements for Robotics 115
1 Introduction 115
2 Learning Methods for Motor Primitives 116
2.1 Imitation Learning for Dynamical Motor Primitives 117
2.2 Reinforcement Learning with PoWER 117
3 Robot Evaluation 118
3.1 Discrete Movement: Ball-in-a-Cup 119
3.2 Rhythmic Movement with Start-up Phase: Ball-Paddling 120
4 Conclusion 121
References 122
Nonlinear Landing Control for Quadrotor UAVs 123
1 Introduction 123
2 The Vehicle Control System 124
3 Automatic Landing on a Mobile Platform 126
3.1 Altitude Control 126
3.2 Nonlinear 2D-Tracking Controller 127
4 Simulation and Experimental Results 129
5 Conclusion and Future Works 130
6 References 130
Oscillation Analysis in Behavior-Based Robot Architectures 131
1 Introduction 131
2 Development Framework 132
3 Oscillation Analysis 133
4 Application and Results 135
5 Conclusion and Future Work 137
Acknowledgments 138
References 138
Variable Joint Elasticities in Running 139
1 Introduction 139
2 Materials and Methods 140
2.1 Experimental Data 140
2.2 Dynamic Joint Stiffness Analysis 140
3 Results 142
4 Discussion 144
Acknowledgements 146
References 146
3D-Partikelfilter SLAM 147
1 Einleitung 147
2 Das partikelfilterbasierte SLAM Verfahren 148
2.1 Ziehen neuer Positionen 149
2.2 Gewichtung der Partikel 150
2.3 Resampling 150
3 Reduktion des Speicherplatzes 151
4 Experimentelle Ergebnisse und Evaluation 152
5 Schlussfolgerung und Ausblick 153
Literaturverzeichnis 154
Absolute High-Precision Localisation of an Unmanned Ground Vehicle by Using Real-Time Aerial Video Imagery for Geo-referenced Orthophoto Registration 155
1 Introduction 155
2 Robotic Platforms 156
3 Cooperative UGV/UAV Localisation 157
3.1 Video Tracking of UGV 157
3.2 Pitch and Roll Compensation 158
3.3 Orthophoto Registration 159
4 Results 160
5 Conclusion 161
References 162
An Improved Sensor Model on Appearance Based SLAM 163
1 Introduction 163
2 Appearance-Based SLAM Approach with RBPF 165
2.1 RBPF with Local and Global Graph Models 165
2.2 Graph Matching 166
2.3 Adaptive Sensor Model 166
2.4 Dynamic Changes 168
3 Experiments and Results 168
4 Conclusion and Future Work 169
References 170
Monte Carlo Lokalisierung FahrerloserTransportfahrzeuge mit drahtlosen Sensornetzwerken 171
1 Einf¨uhrung 171
2 Funklokalisierung 172
2.1 Stand der Technik 172
2.2 Funklokalisierung mit dem nanoLOC System 173
3 Monte Carlo Funklokalisierung 173
3.1 Anfangsverteilung der Partikel 174
3.2 Sensormodell der Distanzmessung 174
3.3 Experimentelle Ergebnisse 176
4 Zusammenfassung 177
Literaturverzeichnis 178
Using a Physics Engine to Improve Probabilistic Object Localization 179
1 Introduction 179
2 State of the Art 180
3 Theoretical Concept 180
3.1 Rule Set Joint State Update 181
4 Implementation of the Proposed System 181
4.1 Probabilistic Models 181
4.2 The Trigger Function 182
4.3 Implementation of the Rule Set Joint State Update 183
4.4 The Physical Model: Bullet Physic Engine 183
5 Experimental Results 184
6 Conclusions and Future Works 185
Acknowledgment 186
References 186
Visual Self-Localization with Tiny Images 187
1 Introduction 187
2 Related Work 188
3 Robots 189
4 Global Image Features 189
4.1 Weighted Gradient Orientation Histograms 189
4.2 Weighted Grid Integral Invariants 190
4.3 Color/Grayscale Grid Histograms 190
4.4 Pixelwise Image Comparison 190
5 Localization Process 190
6 Experimental Results 191
7 Conclusion 194
References 194
Coordinated Path Following for Mobile Robots 195
1 Introduction 195
2 Problem Statement 196
3 Controller Design 197
4 Results 199
4.1 Simulations 199
4.2 Real-World Experiments 200
5 Conclusions and Future Work 201
References 201
Kooperative Bewegungsplanung zur Unfallvermeidung im Straßenverkehr mit der Methode der elastischen Bänder 203
1 Einleitung 203
2 Anwendungsszenario 204
3 Kooperative Bewegungsplanung 204
3.1 Problemstellung 204
3.2 Ansätze aus der Robotik 205
4 Die Methode der elastischen Bänder 206
4.1 Grundlagen 206
4.2 Modellierung der Kräfte 206
4.3 Numerische Kräfteminimierung 208
4.4 Interpolation der Bewegung 208
5 Simulationsergebnisse 208
6 Fazit und Ausblick 210
Danksagung 210
Literaturverzeichnis 210
Perception of Environment Properties Relevant for Off-road Navigation 211
1 Introduction 211
2 Controlling Properties of the Environment 212
2.1 Positve Obstacles 212
2.2 Negative Obstacles, Water and Ground 213
3 Representation and Navigation Strategy 215
4 Classification Methods Realized on Ravon 215
5 Conclusion and Future Work 217
Acknowledgements 217
References 218
Aufbau des humanoiden Roboters BART III 219
1 Einleitung 219
2 Mechanischer Aufbau 220
2.1 übersicht 220
2.2 Konstruktion der Gelenke 221
2.3 Komponenten 221
3 Elektrischer Aufbau 222
3.1 Antriebe 222
3.2 Sensoren 223
3.3 SmartPower-Module 224
3.4 Leitrechner 225
4 Erste Gehversuche 225
5 Zusammenfassung 226
6 Literatur 226
Development of Micro UAV Swarms 227
1 Introduction 227
2 Related Work 227
3 Platform 228
3.1 Flight Platform 229
3.2 Ground Control Station 229
4 Towards Autonomy 231
5 Simulation and Evaluation 232
6 Application Scenarios 233
7 Conclusions 234
8 References 234
Die sechsbeinige Laufmaschine LAURON IVc 235
1 Einleitung 235
2 Systemüberblick 236
3 Verhaltensbasierte Steuerung 238
4 Lokalisation und Umweltmodellierung 238
5 Navigation 239
6 Semantische Missionssteuerung 240
7 Zusammenfassung und Ausblick 241
Literaturverzeichnis 242
Dynamic Bayesian Network Library Ein C++ Framework für Berechnungen auf dynamischen Bayes’schen Netzen 243
1 Stand der Technik 243
1.1 Bayes’sche Netze 243
1.2 Andere C++ Bibliotheken zur probabilistischen Inferenz 244
2 Konzept 245
2.1 Struktur der DBNL 245
2.2 Statische Netze 246
2.3 Dynamische Netze 247
2.4 Anfragen 247
2.5 Inferenz 248
3 Evaluation 249
4 Ausblick 249
Danksagung 250
Literaturverzeichnis 250
Modellgetriebene Softwareentwicklung für Robotiksysteme 251
1 Einleitung 251
2 Motivation und Stand der Technik 252
3 SmartSoft 253
4 Der modellgetriebene Ansatz 254
4.1 Platform Independent Model (PIM) 255
4.2 Platform Specific Model (PSM) 256
4.3 Codegenerierung aus dem PSM in die PSI 256
5 Beispiel 257
6 Zusammenfassung und Ausblick 258
Literaturverzeichnis 258
Situation Analysis and Adaptive Risk Assessment for Intersection Safety Systems in Advanced Assisted Driving 259
1 Introduction 259
2 Intersection Modeling 260
3 Behavior Modeling 260
4 Behavior Prediction 262
5 Adaptive Risk Assessment 264
6 Results 266
6.1 System and User Test Results 267
7 Conclusion 267
References 267
Transparente protokollierbare Kommunikation zwischen Funktionen kognitiver Systeme 269
1 Einleitung 269
2 Stand der Technik 270
3 Transparente Kommunikation f¨ur kognitive Systeme 271
4 Effiziente Protokollierung der Kommunikation 272
4.1 Aufzeichnungsmethode 272
4.2 Aufzeichnungsformat 273
4.3 Einsatz einer Aufzeichnung 274
5 Ergebnisse und Anwendungen 275
6 Danksagung 276
Literaturverzeichnis 276
Walking Humanoid Robot Lola An Overview of Hard- and Software 277
1 Introduction 277
2 Mechanical and Electronics System Design 278
2.1 Structural Components 278
2.2 Joint Design 279
2.3 Force/Torque Sensors 279
2.4 Inertial Measurement Unit 280
2.5 Electronics Architecture 280
3 Simulation 281
4 Control Aspects 282
4.1 Trajectory Generation 282
4.2 Stabilizing Control 283
5 Conclusions and Future Work 284
References 284