RG, our robotic guide for the visually impaired,
navigates the Utah State University Center for Persons with Disabilities.
The robot is equipped with an RFID reader (the box with a white top under
the robot's laptop), an RFID antenna (the white rectangle attached to the
right PVC pole on top of the robot), and a laser range finder (the blue
coffee maker like device in the front).
Passive RFID tags (watch out for them in the video, they are small black
circles on walls). They are placed near doors and turns. Each tag is a node
in a graph used for path planning. The local navigation behaviors use
laser range finding. Given a location to go to, the robot plans a path
in the graph (a path is a sequence of RFID tags) and associates each edge
in a graph with a sequence of navigation behaviors. The run-time detection
of an RFID tag triggers a specific sequence of navigation behaviors.
Some people were very apologetic. For some reason they thought that they
were interfering with our experiments when, in reality, we were very happy
that they were there because we wanted to test the robot in an environment
with a lot of people. We are very grateful to the USU Center for Persons
with Disabilities for giving us many opportunities for testing RG on
An example of a run-time detection of an RFID tag is coming up. At the end
of this hall the robot will detect an RFID tag on the right wall, which
will trigger a turn-right behavior.
So, the robot said, "I am turning right" and turned right.
There will be another example of a run-time detection of an RFID tag.
The robot will detect an RFID tag above the black backpack, which will
trigger a turn-left behavior.
So, the robot said, "I am turning left" and turned left.
Video Narration: Vladimir Kulyukin
For more information go to http://digital.cs.usu.edu/~vkulyukin/...