Search Algorithm based Planning on Finding and Grasping of Occluded Target Object with a Mobile Robot Manipulator
Date Issued
2014
Date
2014
Author(s)
Lin, Yu-Chi
Abstract
As robots and robotic researches marching from factory to office and home, the ability of robot to interact with complex human-living environment becomes pivotal. To show its value, the robot should be able to do various tasks as an assistant in human-living environment. Searching and delivering object in indoor environment is one of the tasks practical to user. Previous study mainly focused on visual search of objects in indoor environment. The search is performed by a mobile robot which plans a best route to observe the environment and discover the target object. However, in real world, objects may be occluded by other objects or structures, which means pure visual search is impossible to find these targets. As a result, some recent works discussed the object search method by removing objects that block and hide the target object.
In this thesis, we propose an object search planning system that combines visual and arm manipulation search. The robot can either reposition one of the accessible object with its arm or move its platform to view the environment from a different position to discover the target object. The concept of planning is A* Planning which minimizes the expected time to discover the target and then the time to grasp the target in clutter after its discovery. Visual sensor feedback is included to assure the accuracy of each action performed by the robot. We evaluate the proposed approach with experiment in the scenario of object search in a shelf environment where objects may occlude or block access to one another.
Subjects
機器手臂操作
搜尋物體規劃
辦公室機器人
Type
thesis
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