IARN

Indoor Autonomous Robot Navigation

Hospitals and Hospice Care

Parameters

6 Months
Starts in August 2020
~15 collaborators

“Learning Navigation Behaviors End-to-End with AutoRL,” “PRM-RL: Long-Range Robotic Navigation Tasks by Combining Reinforcement Learning and Sampling-based Planning”, and “Long-Range Indoor Navigation with PRM-RL”

Primary Functions

Point-to-Point Long-range Navigation
Path Following / Guided Navigation
Collision avoidance

Technologies

ROS

Framework for simulating complex robot behavior
Pose Estimation, Localization, and Navigation
Transfer learned parameters to real world

SLAM

Simultaneous localization and mapping
Creating a map of environment and tracking robot position
ROS includes tools for SLAM - gmapping

SLAM

Robot Platform

TurtleBot 3 Burger

LiDAR Camera

Reinforcement Learning

State : noisy LiDAR observations
Action : Differential Drive Wheel Speeds
Reward : Reach goal while avoiding obstacles

Secondary Tasks

Monitoring and Debugging

Monitor and Log state-action information
Real-time visualization of trajectories

Web/Mobile Interface

Track the status of the robot
Sensors, Battery, etc,
Control

On-board UI

Secure Access
Control
Networking
Intervention/Reset