Research of Mobile Manipulator using Task Oriented Approach. Autonomous Navigation in Indoor Environment with Door Opening.

摘要

This paper reports the implementation of an intelligent motion for autonomous mobile manipulator. We determined our research task as“Autonomous Navigation including Door Open Motion”, in indoor environment. This task is one of basic skills for mobile manipulator, however the cooperation of several theories and techniques is necessary for this research task. To realize the task, we developed both hardware and software of one robot system, executed in real environment, and feedbacked the experimental results to both hardware design and motion algorithm.In this paper, we describe a detail design of the mobile robot motion (which is divided into several stages), hardware and software to realize the research task. Also, we report experimental results, and discuss about knowledge and problems for controlling autonomous mobile manipulator.