Development of a Multifunctional Mobile Manipulation Robot Based on Hierarchical Motion Planning Strategy and Hybrid Grasping

摘要

A mobile manipulation robot combines the navigation capability of unmanned ground vehicles and manipulation advantage of robotic arms. However, the development of a mobile manipulation robot is challenging due to the integration requirement of numerous heterogeneous subsystems. In this paper, we propose a multifunctional mobile manipulation robot by integrating perception, mapping, navigation, object detection, and grasping functions into a seamless workflow to conduct search-and-fetch tasks. To realize navigation and collision avoidance in complex environments, a new hierarchical motion planning strategy is proposed by fusing global and local planners. Control Lyapunov Function (CLF) and Control Barrier Function (CBF) are employed to realize path tracking and to guarantee safety during navigation. The convolutional neural network and the gripper’s kinematic constraints are adopted to construct a learning-optimization hybrid grasping algorithm to generate precise grasping poses. The efficiency of the developed mobile manipulation robot is demonstrated by performing indoor fetching experiments, showcasing its promising capabilities in real-world applications.