Mobile Manipulator for Autonomous Localization, Grasping and Precise Placement of Construction Material in a Semi-structured Environment

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00349057" target="_blank" >RIV/68407700:21230/21:00349057 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1109/LRA.2021.3061377" target="_blank" >https://doi.org/10.1109/LRA.2021.3061377</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/LRA.2021.3061377" target="_blank" >10.1109/LRA.2021.3061377</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Mobile Manipulator for Autonomous Localization, Grasping and Precise Placement of Construction Material in a Semi-structured Environment

Popis výsledku v původním jazyce

Mobile manipulators have the potential to revolutionize modern agriculture, logistics and manufacturing. In this work, we present the design of a ground-based mobile manipulator for automated structure assembly. The proposed system is capable of autonomous localization, grasping, transportation and deployment of construction material in a semi-structured environment. Special effort was put into making the system invariant to lighting changes, and not reliant on external positioning systems. Therefore, the presented system is self-contained and capable of operating in outdoor and indoor conditions alike. Finally, we present means to extend the perceptive radius of the vehicle by using it in cooperation with an autonomous drone, which provides aerial reconnaissance. Performance of the proposed system has been evaluated in a series of experiments conducted in real-world conditions.

Název v anglickém jazyce

Mobile Manipulator for Autonomous Localization, Grasping and Precise Placement of Construction Material in a Semi-structured Environment

Popis výsledku anglicky

Mobile manipulators have the potential to revolutionize modern agriculture, logistics and manufacturing. In this work, we present the design of a ground-based mobile manipulator for automated structure assembly. The proposed system is capable of autonomous localization, grasping, transportation and deployment of construction material in a semi-structured environment. Special effort was put into making the system invariant to lighting changes, and not reliant on external positioning systems. Therefore, the presented system is self-contained and capable of operating in outdoor and indoor conditions alike. Finally, we present means to extend the perceptive radius of the vehicle by using it in cooperation with an autonomous drone, which provides aerial reconnaissance. Performance of the proposed system has been evaluated in a series of experiments conducted in real-world conditions.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2021

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

IEEE Robotics and Automation Letters

ISSN

2377-3766

e-ISSN

2377-3766

Svazek periodika

6

Číslo periodika v rámci svazku

2

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

8

Strana od-do

2595-2602

Kód UT WoS článku

000631202300036

EID výsledku v databázi Scopus

2-s2.0-85101786460