Autonomous Intelligent Mobile Robotics Jerry Weinberg Associate Professor

Autonomous Intelligent Mobile Robotics Jerry Weinberg Associate Professor Ross Mead Robot Scientist Computer Science What is a Robot?

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.

Living Autonomously • An autonomous robot acts on its own decisions • Robots are not directly controlled by humans – Can take input and advice from humans • Robots are not teleoperated – Making them much more difficult and interesting than Battlebots

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

Sensing the Environment • Sensors allow the robot to perceive its environment to get information that allows it to make decisions – Humans have 6 senses what are they? – What sensors does a robot need?

Acting on the Environment • Robots have effectors that allow it to change the state of the world – What are human effectors? – What effectors can robots have?

Achieving a Goal • Achieving a goal requires intelligent decision making – Artificial Intelligence

LEGO Mindstorm RCX 3 Output or Motor Ports (A, B, C) 3 Input or Sensor Ports (1, 2, 3) IR Transmitter/Receiver

Programming Your Bot

Spectrum of Self-Control Teleoperation: Human Control Autonomous (AI) Control Shared Human – Robot Control Remote-Controlled Rats

Spectrum of AI Robot Control

Reactive/Behavior-Based Robot Control • Ignores world models Sense Act

Finite State Machine

Finding Inspiration • Constructopedia • Nature • Web www. legomindstorms. com www. lugnet. com/robotics/rcx roboti. cs. siue. edu