Mar 3, 2006 - Using C++ Language to program the robot's controller. â« Testing the controller with Player + Gazebo. Simulator. â« If successfully testing under ...
Robot’s Decisions with a Neural Network By Jirakhom Ruttanavakul University of Nevada, Reno CS 790R
Motivation
?
Challenges What do we need to consider if we deploy a robot
to harvest in the field? How can we control the robot to
Do the right thing? Pick the right choice? Go the right way?
Implementation Rule-Based System (A new kind of science)
Control next stage of the robot after a particular task is completed.
Inhibition – Activation (Animal’s Pattern)
Making a decision
Reaction – Diffusion (Waves)
(Not yet in this project)
Neural Network (Training or Learning)
Control the level of Inhibition - Activation
Simulation Using C++ Language to program the robot’s
controller Testing the controller with Player + Gazebo Simulator If successfully testing under simulation, port the controller to the real robot and test again. Download simulation from
http://playerstage.sourceforge.net/
Gazebo Screen Shots
Status Need Further Discussion with Professor such as
scope and more detail.
Network Template Object 00 Camera
Move Object 01
Speed Command
Collecting Fiducial
Object 02
Turn
Clean-UP Object 03
Turn Command
Gripper
Object 04
Charging
Close Grip
Laser Gripper Command
Object 05 Open Grip
Sonar Object 06
Battery
Robot
Example of Complete Network Move Camera Object 00
Collecting
Turn
Speed Command
Fiducial Move Clean-UP Gripper
Object 01
Charging
Turn
Turn Command
Robot
Close Grip Laser Object 01
Move Gripper Command
Sonar Turn
Battery
Close Grip
Example of network created when the robot receives the image of two object_01s and non others through camera
Apr 14, 2006 - Status of Robot's Controller with Dynamic Network ... and motors (wheels). â« Basic Network Structure is supplied by a developer ... Page 12 ...
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