Environmental Support Method for Mobile Manipulators Using Visual Marks with Memory Storage.

摘要

This paper presents a methodology of environmental support for autonomous mobile manipulators using visual marks with memory storage. The mark makes up for insufficient ability of sensing and recognition; self-positioning, positioning of objects, and deciding methods to operate objects. The mark proposed in this paper consists of landmark part and memory part. The landmark part is to be estimated the relative position and orientation between robots and the mark. The memory part is to have information about what it is, what tasks there are, and how to do the tasks. Task execution using the marks with real robots is described to show the effectiveness of the proposed methodology.