fig1AIDer is a mobile robot platform for exploration intramural office delivery at minimal costs. It was on loan at CI from Advanced Motion Control (AMC), that is a local manufacturer of serves for robotic applications. Mechanically, the robot was designed and constructed by CalPoly. The CI team worked on the software aspects of the robot.

AIDeR has a very limited set of sensors for navigation: right side detectors of the distance from the wall (so it can always stay at a certain distance), and a frontal 2D LIDAR laser scanner for detecting shapes such as turns and intersections. The side sensors are used to provide a real-time feedback to a controller that corrects the position of the robot so it stays at a constant distance from the wall [1]. Higher-level navigation in AIDer is based on following paths that consist of a series of intervals between certain landmarks [2]. In an environment lacking GPS, identification of environmental cues is a critical low-level task necessary for recognizing the landmarks [3]. The frontal laser- scanner in AIDer serves that purpose. Each scan produces a sequence of measurements that differ dfig2epending on the shape of the surrounding walls. The scan results are graphed using angles on the x axis and the measured distances on the y axis. Due to the range limitations of the laser scanner, certain measurement may be read as zeros; that is visible as a sudden drop in the curve shown in the graph.

The work included also capstone projects. One was to develop a Web based a request management system that allowed customers to order delivery services from the robot [4]. In the second capstone project, an Android-based remote controller was implemented for the robot [5].

This line of research is carried over in the ciNeuroBot projects that uses much smaller, and manageable robots to explore goal oriented behaviors.

References

  1. Hilde, Ludovic Roger (2009). Autonomous Interoffice Delivery Robot (AIDeR) Software Development of the Control Task
  2. Rodrigues, Derek (1009). Artificial Intelligence Software for the Autonomous Interoffice Delivery Robot, CI Master Thesis, CI Library.
  3. Henderson, Allison Marie (2012). Autonomous Interoffice Delivery Robot (AIDeR) Environmental Cue Detection, CI Master Thesis, CI Library.
  4. Kiffe, Robert (2010). AIDeR  Web User Interface, CI Capstone Project.
  5. Trow, Andrew (2011). Android Controller for AIDeR, CI Capstone Project.