Agile Robotics for Logistics Project Prototype Demonstration Plan

Transcription

1 Agile Robotics for Logistics Project Prototype Demonstration Plan Working draft: March 19, 2009 Matthew Walter and Seth Teller Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge, MA {mwalter, I. INTRODUCTION The first year of the Agile Robotics for Logistics Project will conclude with a demonstration of the prototype materials handling system. The demonstration will exhibit an unmanned advanced robotic lift truck capable of identifying, lifting, and moving palletized supply assets within an unstructured environment representative of an SSA. This document addresses the Agile Robotics prototype demonstration plans. It provides a description of the proposed layout of the demonstration site, a detailed description of the primary demonstration scenarios, as well as a discussion of the logistical requirements necessary to support the demo. ThedemonstrationisplannedforJune10and11,2009atFortBelvoir. II. DEMONSTRATION SITE The demonstration will take place at Fort Belvoir in Virginia. The field site is an approximately 100 meter(328 foot)(north-south) by 50 meter(167 foot)(east-west) lot comprised of gravel andgrassterrain.pavedroadsborderthelotonthenorthandeastsideswhilethepotomac RiverservesasthebordertotheWest.Figure1presentsabird seyeviewofthearea. ThefieldsitewillconsistofamockSSAthatincludesareceptionarea,abulkstoragelot, aswellasanissuearea,asshowninfigure2.locatedinthenorth-westcornerofthefield site, the reception area abuts the East-West roadway, which provides access for a truck towing atrailer.similarly,theissuearea,locatedonthesouthernsideofthesite,isaccessibleviathe entrance from the North-South roadway. The bulk storage lot consists of approximately ten ASL bays arranged in two adjacent rows, each comprised of five delineated bays. Spectators will watch the demonstrations from the South-East corner of the field site. This area will include seating as well as several monitors that will display images that elucidate the materials handling system s operation. III. DEMONSTRATION SCENARIO The goal of the Agile Robotics site-visit is to demonstrate the end-to-end capabilities of the prototype advanced robotic platform for materials handling. This includes the system s ability to safely navigate around an SSA, detect and localize palletized loads, and, at the request of a human supervisor, manipulate pallets and move them to the desired location specified by the

2 Fig.1. OverheadviewoftheFortBelvoirsite.Theprototypedemonstrationwilltakeplaceonthegravellotshownonthe right. supervisor. The demonstration will showcase the platform s unique capabilities related to humanrobot interaction that incorporate a multi-modal gesture and speech-based interface in a manner that provides seamless control over the level of autonomy endowed to the robot. Over the course of the two day period, different scenarios will be demonstrated that each focus on key aspects of the prototype system: 1) The ability to execute high-level commands related asset movement around an SSA. 2) The ability operate in the presence of humans. 3) Thesystem sabilitytoaskforassistancewhenunabletoperformatask. 4) Low-level safety capabilities. The demonstration will be repeated in several two-hour sessions over a two-day period. We anticipate a morning and an afternoon session on each day. With permission, we plan to record the demonstration sessions and edit the recordings together into a conveniently-viewable record of the proceedings. Theteamplanstoarriveuptoaweekearlytoputalldemonstrationelementsinplace,and perform a pre-test of all functionality. The next four sections outline the general scripts for each of these scenarios. Note that several precautions will be taken throughout the demonstrations to ensure the safety of the operators and spectators. In particular, the forklift is equipped with an emergency stop 2

3 Fig.2. AschematicofthefieldsitethatdepictstheproposedlayoutofthemockSSAandthespectatorviewinglocation. system that allows an operator to remotely stop the vehicle when necessary via a wireless remote. Additionally, numerous independent emergency buttons are positioned around the exterior of the forkliftaswellasintheoperator scabin,whichbringthevehicletoastopwhendepressed. 3

4 A. Lead-In Presentation In this introductory segment, we would give a brief talk about the project. We would discuss the primary goals of preventing harm to military personnel, increasing efficiency of logistics operations, and reducing the logistics footprint. 4

5 B. High-Level Command Demonstration Thegoalofthisscenarioistoshowtheabilityofthebottoexecutehigh-levelcommands that involve navigation and pallet manipulation. In particular, we will demonstrate the human supervisor s ability to direct the robotic platform to drive to specific locations within the SSA as wellastofollowaprescribedpathviaacombinationofspokencommandsandgesturesmade on the handheld tablet. The demonstration will also showcase how the supervisor can command thebottopickupaparticularpalletoffofthegroundorthebedofatrucktrailerandplaceit in any desired ASL bay using both speech as well as tablet-based gestures. [Several ASL bays are populated with pallets. The robot is sitting in the Issue Area. A truck towing a trailer carrying several loaded pallets pulls into the Reception Area.] 1) The supervisor summons the forklift to the Reception Area. 2) ThesupervisorusespathgesturesonthePDAtoguidetheforkliftto an orientation facing the truck. 3) Thesupervisorcommandstherobottopickupapalletoffofthetruck andplaceitintoaspecificaslbayviaacombinationofspeechand tablet-based gestures. [The robot estimates the pose of the pallet, including the location oftheinserts.thesupervisorisabletoassistthesearchforinsert locations via tablet-based gestures.] 4) Theforkliftpicksthepalletoffofthetruck,carriesitovertotheBulk StorageLot,andplacesitinthedesiredASLbay. 5) Supervisor summons the robot back to reception. 6) Robot reacquires the same truck(via path gestures) 7) Supervisordirectstheforklifttopickupasecondpalletandplaceit inaspecificaslbay.(repeatstep3) C. Demonstration of People Detection Capabilities The robotic materials handling vehicle is designed to operate in the presence of people, trucks, and other forklifts moving about in the SSA. This demonstration is meant to elucidate the system s ability to identify people moving within the vicinity of the forklift and to transition to a manual operating mode when approached. 5

6 [The robotic forklift is sitting in the SSA in AUTONOMOUS mode.] 1) An operator walks towards the stationary forklift. 2) The robot recognizes that a person is approaching, switches to PAUSE mode, enables the parking brake, and announces as such. 3) Theoperatorclimbsintheseatoftheforkliftandtheforkliftautomatically switches to MANUAL mode. 4) With the vehicle functioning as a standard forklift, the operator drives itaroundthessa. 5) The operator stops the vehicle, enables the parking brake, and exits. 6) The robot reverts to PAUSE mode and awaits authorization to resume autonomous operation. D. Assistance Request Demonstration Integral to the Agile Robotics system design is the recognition that the platform will not be abletocompleteeverytask.whetheritisfindingthelocationofthetineinsertsonapallet or navigating between closely spaced obstacles, there will be situations that require human intervention. This scenario demonstrates the robot s ability to recognize when these situations arise and to ask for and act upon additional support from the human supervisor. [The robotic forklift is stationed in the Reception Area. Access to the Bulk StorageLotisblockedwiththeexceptionofaspaceslightlywiderthanthe forklift.] 1) ThesupervisordirectsthebottotheIssueArea. 2) TherobotdrivestowardstheIssueAreaviatheBulkStorageLotbut isunabletofindapaththroughtheobstacles. 3) The robot transitions to PAUSE mode and requests assistance. 4) A human operator climbs into the forklift, the robot switches to MANUAL mode, and the operator manually drives the forklift between the obstacles to the Bulk Storage Lot. 5) Thehumanoperatorstepsoutofthevehicleandtherobottransitions to PAUSE mode. 6) When authorized by the human supervisor, the robot returns to AU- TONOMOUS mode and resumes the task of navigating to the Issue Area. E. Low-Level Safety Demonstration The final demonstration will step through the different safety features that are part of the robotic prototype system design. The low-level safety capabilities will be shown individually as part of a materials handling scenario similar to the aforementioned high-level command demonstration. 6

7 [The robotic forklift is sitting in the Issue Area. The human supervisor instructs the forklift to come to the Reception Area.] Astherobotismoving,apersonapproaches.Theforkliftcomestoa stopandannouncesthatitisstoppingduetoapersoninitsvicinity. Anobjectisplacedinfrontoftheforkliftasitismoving,causingthe vehicle to stop and navigate around it. The robot announces its intent both visually and audibly when executing various tasks. IV. LOGISTICS AND INFRASTRUCTURE The following is a list of infrastructure that is necessary to support the demonstrations during the site visit. TABLE I NECESSARY ITEMS FOR THE DEMONSTRATION SITE-VISIT. Item Description Provider On-site power source Power available from various areas of the demonstration site LIA for LCD displays(near the spectator section), computers, a PA system, and additional electronics. Generators may be the only available option. Flatbed trailer A flatbed trailer for use during the demonstrations that offers Locally rented directaccessfromthesidesandback.thetrailermustbetowable with a pickup truck. Pickup truck Truck to tow the trailer. Locally rented Two LCD displays A pair of large LCD monitors to display system information to MIT the spectators. PA system One or more wireless microphones with a receiver and several? speakers. Traffic posts Approximately four dozen tall, bollard-style traffic posts to LIA delineate various areas of the SSA including ASL bays Audience risers Risers and seating for spectators LIA Storage Overnight storage and workspace for our equipment and team asneededforpreppingforkliftfordemoandinbetweendays of demo LIA? LPGandfueltanks LPGandfueltankswillbeneededfortheforkliftduringour MIT and/or LIA? demosessions.wewillbehappytoprovideforthis,butwill needtoknowwhatrequirementsweshouldmeetwhileonbase and in overnight storage. 7