AI – Based Mobile Robotics 1

AI – Based Mobile Robotics

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What is a robot ?A machine that operates autonomously or by remote control.

A human-like with human

capabilities?

The unconditional servant ?

A highly flexible machine .

The intelligent connection of

perception to action. • A robot is an autonomous machine able

to sense, reasoning, and act, adaptively.

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What is Sensing ?

Collect information about the world.

Sensor - an electrical/mechanical/chemical device that maps an environmental attribute to a quantitative measurement.

• Each sensor is based on a transduction principle - conversion of energy from one form to another

• Also known as transducers.

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Why do robots need sensors?

What is the angle of my arm?

internal information

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Why do robots need sensors?

Where am I?

localization

?

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Why do robots need sensors?

Will I hit anything?

obstacle detection

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Why do robots need sensors?Where is the cropline?

Autonomousharvesting

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Sensing for specific tasks

Where is the face?

Face detection & tracking

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Sensors Being Used up?

• distance -> ultrasound, sonar, infrared • light level -> photo cells, cameras • sound level -> microphones • strain -> strain gauges • rotation -> encoders • magnetism -> compasses (PSUBOT)• smell -> chemical (fire detector)• temperature -> thermal, infra red • inclination -> inclinometers, gyroscopes • pressure -> pressure gauges

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Sensor examples

Camera

EncodersBumpers Encoders

Sonar Rings

Rear ViewCamera

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Actuator examples

Microphone

Gripper

Motors

Speaker

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“ A reprogrammable, multifunctional manipulator

designed to move material, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks. "

… Robot Institute of America, 1979

A machine able to extract information from its environment and use knowledge about its world to move safely in a meaningful and purposive manner ….Robot Industry Association

“ An automatic device that performs functions normally ascribed to humans or a machine in the form of a human. ”

…Webster’s Dictionary

Formal Definition of a 'robot‘

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Two major types of robots

(i) Industrial robots - Operates in a stable deterministic environment - Normally fixed or restricted mobility -Structured factory environment

• “closed world”

- Operates according to a relatively simple program.

(ii) Mobile robots - Operates in “the real world”. - Moves around -Unstructured world

• “open world”

- Requires a high degree of autonomy

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What is Robotics ?

“Robotics is:

“the Intelligent Connection of

Perception to Action”

“Robotics is:

“the Intelligent Connection of

Perception to Action”

Reality Robot

Actuators

Sensors Perception

Action

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LocalizationLocalization CognitionCognition

Motion Motion controlcontrolPerceptionPerception Real Real

worldworld

Where am I?Where am I?Where am I Where am I

going?going?

How do I get How do I get there?there?

Motion Motion controlcontrolPerceptionPerception

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What is Intelligence?

– Knowledge: Information gained from text books and other reading materials...

– Intelligence: (Heuristics)

- That gives power to apply knowledge on a problem .

- Ability to adapt one’s behaviour to fit new circumstances.

- Degree of reasoning and learned behavior

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Components of intelligence

Learning

Reasoning Problem Solving Perception Language understanding Genuine understanding

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AI is the Intelligence implemented in a computer system.

– AI is the science and engineering of making intelligent machines which can perform tasks that require intelligence when performed by humans …”

– …"nothing more" than advanced algorithms research“

– AI = search + knowledge + learning

– A.I. is not practical <- -> What is practical is not A.I.

– “The branch of computer science that concerned with the automation of intelligent behavior.”

What is AI ?

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AI why being not practical?

– A.I. is not practical <- -> What is practical is not A.I.

– AI = search + knowledge + learning– AI != search + wisdom +learning

knowledge is not practical.

wisdom is practical.

“it’s just like Einstein and Grahembell are counted as intelligent but Solomon and Birbal as wise”

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So,

What is AI-based Mobile Robotics?

It is nothing rather than

… Intelligent Robots

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What is An Intelligent Robot• An autonomous system which exists in

the physical world, can sense its environment, and can act on it to achieve some goals.

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Autonomous Mobile Robots have to Solve Difficult Problems

Where am I? Localization Problem

How do I get there? Path Finding Problem

How do I find the door? Object Recognition Problem

What are you asking me to do?Language Understanding Problem

How can I tell you the answer to your question?Speech Generation Problem

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Sensing the Environment

Sensors allow the robot to perceive its environment to get information that allows it to make decisions

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Acting on the Environment

Robots have effectors that allow it to change the state of the world

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Achieving a Goal

Achieving a goal requires intelligent decision making

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Applications…

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Lawn care

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Security and Surveillance

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Research Platforms

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Entertainment

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Toys

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Marketing/Hospitality

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Exploration

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Humanoids

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Elder Assistant

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Military Robotics

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Intelligent Robot?

Mechanical Engineering

Electrical Engineering

Computer Science

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Combining these fields we can create a system that can…

SENSE

PLAN

ACT

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How will it perceive the world?

How to represent knowledge about world?

Need to understand language?

What kind of planning does it do?

What kind of problem solving does it do?

How rapidly can it search its knowledge base for answers?

In Short: Intelligent Robot concerned with:

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REFERENCES

• Books• “Introduction to Autonomous Mobile Robots”, R Siegwart and I Nourbaksh,

Bradford • “Introduction to AI Robotics”, R Murphy, Bradford• Winston P H, Artificial Intelligence (3rd Edition) Addition Wesley 1992.• Rich E Knight K, Artificial Intelligence(2nd Edition)(ISBN 0-070-522-634)• McGraw Hill 1991.

• Websites http://www.bbc.co.uk/science/robots/roboteers/index.shtml

http://www.cache.ucr.edu/~currie/roboadam.htm

http://www.robotz.org

http://www.robotics.org

http://www.roboti.cs.siue.edu

http://www.traclabs.com/~korten

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Thank You...

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