Information Technology-based System for Guidance of Autonomous Intelligent Robot

Title

Information Technology-based System for Guidance of Autonomous Intelligent Robot (Grant No. 2002-015)

Abstract

The goal of the project is to develop a program (by using an OOP technique) which would recognize spoken commands intended for guidance of an autonomous intelligent robot (a mobile robot platform carrying a 5 DOF educational robot). For interpretation of spoken commands a language for robot guidance ( Robot Programming Language or RPL) must be developed. With other SW parts developed for processing of acquired sensor data (e.g. stereo vision) and for execution of spoken commands, autonomous motion and manipulation of objects in the surroundings of the autonomous intelligent robot should be achieved.

Finance

Ministry of Science and Technology, Republic of Croatia

Year

2002 – 2003

Principal investigator

Zdenko Kovacic

Project results:

  • Ivan Ljubić, “Mobile robot Xena”, student work that received the Rector Award of the University in Zagreb for 2002. Mobile robot Xena has been demonstrated on the University of Zagreb Fair in 2001. (have a look in our photo album). There is also a short movie showing a mobile platform Xena.
  • A pure pursuit path planning algorithm has been implemented and tested on the mobile platform Xena
  • A stereo-vision algorithm for 3D localization of an object in the organized environment has been implemented and tested in laboratory conditions (see figure below). Two analog cameras are mounted on the gripper side of the 5 DOF educational robot arm Mentor.
  • Four sonars and digital compass have been tested and put in function.
  • A teleoperation interface for control of a 5-DOF robot arm Mentor has been implemented on the Pocket PC (see figure below).
  • A base of spoken commands has been defined as a part of the RPL (Robot Programming Language) command list.
  • A concept of speech recognition has been worked out and its implementation is going on. Due to the complexity of the problem, in parallel, a Microsoft Speech SDK has been successfully used for control of the autonomous intelligent manipulator.
  • During the project, new ideas have been formulated such as Petri-net based coordination of control actions (the whole system is treated as a hybrid system), the usage of laser scanner for space mapping and obstacle avoidance.
  • Some of the project results have been presented at the international conference and some diploma works have been finished, too.
  • The project activities will continue until all prerequisites for fully autonomous operation of the intelligent manipulator are met.

Project references:

K. Petrinec, Z. Kovacic, A. Marozin, “Simulator of multi-AGV Robotic Industrial Environments”, IEEE ICIT 2003 Proceedings – International Conference on Industrial Technology, Maribor, 2003, pp. 979-983.

S. Bogdan, M. Puncec, Z. Kovacic, “The shortest path determination in AGV systems by using String composition”, IEEE ICIT 2003 Proceedings – International Conference on Industrial Technology, Maribor, 2003, pp. 984-989.