Paper Info
Title
A Hybrid Navigation and Image Processing Model with Dynamic Mobile Manipulation.
Abstract
A mobile manipulator is widely used for many scenarios such as warehouse management, and disaster rescue missions. The autonomy of robots operating in an unknown environment is critical. In this paper, a dynamic mobile manipulation robot platform based on the Pioneer 3-AT robot, equipped with one 6-DOF manipulator and multiple sensors is designed and tested. This autonomous mobile manipulator robot platform functions with mapping, path-planning, obstacle avoidance, image processing, color-based object detecting and manipulation algorithms running in the Matlab-ROS environment. In addition, Arduino-based devices are used to enable manipulation control and other future add-on devices. The platform is operating in an unknown dynamic environment using a local path planning algorithm for map exploration, color-based object detection, and manipulation tasks. The project aims to build a platform that is universally suitable for various task situations, as well as easy and efficient to modify and test algorithms with the advantage of data processing capability provided by Matlab. The modification for integrating Pioneer 3-AT robot and Trossen Widow X robotics arm is introduced on both hardware and software levels.
Year
DOI
Venue
2019
10.1109/ROBIO49542.2019.8961514
ROBIO
Field
DocType
Citations 
Obstacle avoidance,Motion planning,Object detection,Image processing,Real-time computing,Arduino,Control engineering,Artificial intelligence,Engineering,Robot,Robotics,Mobile manipulator
Conference
0
PageRank 
References 
Authors
0.34
0
7
Name
Order
Citations
PageRank
Shang Gao100.34
Biqiao Wang200.34
Peiqi Wang300.34
Bangzhi Yan400.34
Chuting Wang500.34
Chaomin Luo600.34
Mariam Faied721.74