At a recent MIT/Lincoln Labs 2017 Beaver Works Summer Institute Seminar, Ariel Anders gave a lecture on visual servoing control systems with regards to mobile robot navigation. Looky here:
Background
There are many parts to mobile robot navigation. As this information is used directly in programming the MIT RACECAR, a NVIDIA Jetson based robot, we will cover that information here.
Mobile robot navigation can be broken into these main categories:
- Perception
- Localization
- Task and Route Planning
- Motion Planning and Execution
This lecture covers the motion planning and execution aspect of the task. The planning and control system is based on camera sensor input.
There are many more lectures available in this summer series, with a wide range of subject matter. We will be providing pointers to the lectures that directly address the RACECAR, but it’s worth going through the playlist to find other topics which may interest you.
Note that these lectures are given to high school senior students.
Note: In case there are browser issues, the YouTube address is: https://youtu.be/bAAatB2IvUM
Note: Some people find it helpful to set the playback speed for these types of videos to 1.25X on YouTube, the setting is available in the settings menu. This saves a little time while watching, but the fidelity is still good enough to understand the lecture. You can always put it back to normal speed for the tricky bits.
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