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SLAM Techniques Application for Mobile Robot in Rough Terrain (Mechanisms and Machine Science (87), Band 87) PDF

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Mechanisms and Machine Science Andrii Kudriashov Tomasz Buratowski Mariusz Giergiel Piotr Małka SLAM Techniques Application for Mobile Robot in Rough Terrain Mechanisms and Machine Science Volume 87 Series Editor Marco Ceccarelli, Department of Industrial Engineering, University of Rome Tor Vergata, Roma, Italy Editorial Board Alfonso Hernandez, Mechanical Engineering, University of the Basque Country, Bilbao, Vizcaya, Spain Tian Huang, Department of Mechatronical Engineering, Tianjin University, Tianjin, China Yukio Takeda, Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan Burkhard Corves, Institute of Mechanism Theory, Machine Dynamics and Robotics, RWTH Aachen University, Aachen, Nordrhein-Westfalen, Germany Sunil Agrawal, Department of Mechanical Engineering, Columbia University, New York, NY, USA This book series establishes a well-defined forum for monographs, edited Books, and proceedings on mechanical engineering with particular emphasis on MMS (MechanismandMachineScience).Thefinalgoalisthepublicationofresearchthat shows the development of mechanical engineering and particularly MMS in all technical aspects, even in very recent assessments. Published works share an approach by which technical details and formulation are discussed, and discuss modern formalisms with the aim to circulate research and technical achievements for use in professional, research, academic, and teaching activities. Thistechnicalapproachisanessentialcharacteristicoftheseries.Bydiscussing technicaldetailsandformulationsintermsofmodernformalisms,thepossibilityis created not only to show technical developments but also to explain achievements for technical teaching and research activity today and for the future. The book series is intended to collect technical views on developments of the broad field of MMS in a unique frame that can be seen in its totality as an Encyclopaedia of MMS but with the additional purpose of archiving and teaching MMS achievements. Therefore, the book series will be of use not only for researchers and teachers in Mechanical Engineering but also for professionals and students for their formation and future work. The series is promoted under the auspices of International Federation for the Promotion of Mechanism and Machine Science (IFToMM). Prospective authors and editors can contact Mr. Pierpaolo Riva (publishing editor, Springer) at: [email protected] Indexed by SCOPUS and Google Scholar. More information about this series at http://www.springer.com/series/8779 Andrii Kudriashov Tomasz Buratowski (cid:129) (cid:129) ł Mariusz Giergiel Piotr Ma ka (cid:129) SLAM Techniques Application for Mobile Robot in Rough Terrain 123 Andrii Kudriashov Tomasz Buratowski Department ofRobotics andMechatronics Department ofRobotics andMechatronics AGH University of Science AGH University of Science andTechnology andTechnology Kraków,Poland Kraków,Poland Mariusz Giergiel Piotr Małka Department ofRobotics andMechatronics Department ofRobotics andMechatronics AGH University of Science AGH University of Science andTechnology andTechnology Kraków,Poland Kraków,Poland ISSN 2211-0984 ISSN 2211-0992 (electronic) Mechanisms andMachineScience ISBN978-3-030-48980-9 ISBN978-3-030-48981-6 (eBook) https://doi.org/10.1007/978-3-030-48981-6 ©TheEditor(s)(ifapplicable)andTheAuthor(s),underexclusivelicensetoSpringerNature SwitzerlandAG2020 Thisworkissubjecttocopyright.AllrightsaresolelyandexclusivelylicensedbythePublisher,whether thewholeorpartofthematerialisconcerned,specificallytherightsoftranslation,reprinting,reuseof illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmissionorinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilar ordissimilarmethodologynowknownorhereafterdeveloped. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfrom therelevantprotectivelawsandregulationsandthereforefreeforgeneraluse. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, expressed or implied, with respect to the material contained hereinorforanyerrorsoromissionsthatmayhavebeenmade.Thepublisherremainsneutralwithregard tojurisdictionalclaimsinpublishedmapsandinstitutionalaffiliations. ThisSpringerimprintispublishedbytheregisteredcompanySpringerNatureSwitzerlandAG Theregisteredcompanyaddressis:Gewerbestrasse11,6330Cham,Switzerland Preface The development of SLAM-based mobile robot control system as the integrated approach, which connects localization, mapping and motion control fields, is pre- sented in this book. The author has performed a survey and selection of several techniques that represent the basics of the mathematical description of wheeled robots, their navigation and path planning approaches, localization and map cre- ating techniques. SLAM paradigms and Bayesian recursive state and map estima- tiontechniquesthatincludeKalman,andparticlefilteringwerestudiedinadetailed way in a separate chapter of this book. These fundamentals allowed having the development of SLAM-based integrated system for the inspection task performed. Thesystemdevelopmentproposedbytheauthorisdividedintotwophases:asingle robot approach and multirobot inspection system. The first phase has been per- formed in three steps: the development of pose tracking technique with a focus on rough terrain application; the implementation of combined 2D and 3D mapping application that might be used in outdoor, indoor and multi-level terrain; and the integration previous steps implementation into one solid system. In pose tracking phase, an original hybrid approach that connects AMCL and EKF filtering para- digmsforthelocalstateestimationinthelocalframehasbeenpresented.Mapping is separated into 2D, which is performed by the Rao-Blackwellized 2D SLAM technique, while for the 3D workspace recreation, the algorithms that deliver required for 3D mapping pose and measurement were developed. The original approachfor2DSLAMinmulti-floorbuildingthatcoverseach2Dlevelmap,and continuous 3D pose tracking can be found in this book. The multirobot inspection system after study of multiagent system and robots cooperation is considered a group of homogeneous mobile robots. The last part of research is dedicated to multirobotmapcreationandpathplanningsolutiondevelopment.Sinceoccupancy grid map can be recognized as an image, the merge of maps can be considered an image processing task. The author applied decentralized map fusion technique which is based on the recent pose and map exchange during sporadic robot meetings—the “rendezvous events”. The robots’ homogeneous behavior and con- figuration allow to develop a multirobot system without theoretical limitations of the number of used robots, which may be added to a group at any time. v vi Preface TheevaluationoftheintegratedSLAM-basedmobileroboticsolutiondevelopedin this book for inspection task performance in single or multiagents approaches has been performed in two phases. The first one is a simulation verification by V-REP simulatorusage,andthesecondanexperimentalverification,preparedintherough underground terrain of an experimental mine located at the Faculty of Mechanical Engineering and Robotics of the AGH University of Science and Technology in Krakow. The experiment results confirm the robustness and efficiency of the developedSLAM-based integrated mobile robot approachfor inspectiontasks ina rough terrain. Kraków, Poland Andrii Kudriashov Tomasz Buratowski Mariusz Giergiel Piotr Małka Contents 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.2 Book Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 1.3 Aim and Scope. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 2 Introduction to Mobile Robots Navigation, Localization and Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.2 Mathematical Description of Mobile Robots. . . . . . . . . . . . . . . . . 8 2.2.1 Holonomic and Non-holonomic Mobile Robots. . . . . . . . . 8 2.2.2 Kinematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 2.2.3 Dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 2.3 Terrain Mapping. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 2.3.1 Topological Maps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 2.3.2 Metric Maps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 2.4 Mobile Robot’s Navigation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 2.4.1 Path Planning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 2.4.2 Bug Algorithms. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 2.4.3 Geometry-Based Roadmaps . . . . . . . . . . . . . . . . . . . . . . . 20 2.4.4 Sampling-Based Roadmaps . . . . . . . . . . . . . . . . . . . . . . . 23 2.4.5 Potential Field Path Planning . . . . . . . . . . . . . . . . . . . . . . 24 2.5 Robots Localization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 2.5.1 Odometry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 2.5.2 Inertial Navigation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 2.5.3 Visual and Laser Odometry . . . . . . . . . . . . . . . . . . . . . . . 28 2.5.4 Active Beacon Localization . . . . . . . . . . . . . . . . . . . . . . . 31 2.6 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 vii viii Contents 3 SLAM as Probabilistic Robotics Framework Approach . . . . . . . . . . 39 3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 3.2 Motion and Observation Models . . . . . . . . . . . . . . . . . . . . . . . . . 40 3.2.1 Motion Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 3.2.2 Observation Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 3.3 Localization Estimation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 3.3.1 Markov Localization . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 3.3.2 Particle Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 3.3.3 Kalman Filters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 3.4 Map Estimation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 3.4.1 Occupancy Grid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 3.5 Simultaneous Localization and Mapping (SLAM). . . . . . . . . . . . . 54 3.5.1 SLAM Problem Definition . . . . . . . . . . . . . . . . . . . . . . . . 54 3.5.2 EKF-SLAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 3.5.3 Particle Filter SLAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 3.5.4 Graph-Based SLAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 3.6 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 4 Multi-agent SLAM-Based Inspection System for Rough Terrain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 4.2 Group of Mobile Robots. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 4.2.1 Introduction to Multiagent Systems. . . . . . . . . . . . . . . . . . 66 4.2.2 Multirobot Path Planning . . . . . . . . . . . . . . . . . . . . . . . . . 67 4.3 SLAM-Based Robot Inspection Approach . . . . . . . . . . . . . . . . . . 68 4.3.1 Pose Tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 4.3.2 Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 4.4 SLAM for Mobile Robots Group. . . . . . . . . . . . . . . . . . . . . . . . . 83 4.4.1 Multiagent Localization and Mapping. . . . . . . . . . . . . . . . 85 4.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 5 Evaluation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 5.2 Simulation Verification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 5.2.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 5.2.2 V-REP Models and Integration with ROS Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 5.2.3 Plane Terrain Workspace Scene . . . . . . . . . . . . . . . . . . . . 100 5.2.4 Plane Terrain Advanced Workspace Scene . . . . . . . . . . . . 106 5.2.5 Rough Terrain Workspace Scene . . . . . . . . . . . . . . . . . . . 108 5.2.6 Multirobot Exploration. . . . . . . . . . . . . . . . . . . . . . . . . . . 111 Contents ix 5.3 Environmental Experiments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 5.3.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 5.3.2 Underground Inspection in Mine-Like Rough Terrain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 5.4 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126 6 Conclusions and Future Work Discussion. . . . . . . . . . . . . . . . . . . . . 127 6.1 Conclusions Discussion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127 6.2 Future Work Discussion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130 Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

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