FSM for Robot Target Search and Retrieval under Semi-constructed Environment

As robots nowadays possess more comprehensive functionalities, the application scenarios involving multi-tasking become increasingly common. This paper presents a Finite State Machine (FSM) based mobile robot target searching mechanism under semi-unknown environment that contains several stages: ran...

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Bibliographic Details
Main Authors: Ma, Xihan, Sun, Honglin, Xu, Enwei, Cui, Song, Yin, Boqun, Faied, Mariam
Format: Conference Proceeding
Language:English
Subjects:
finite state machine
mobile robot
navigation
Online Access:Request full text
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Summary:As robots nowadays possess more comprehensive functionalities, the application scenarios involving multi-tasking become increasingly common. This paper presents a Finite State Machine (FSM) based mobile robot target searching mechanism under semi-unknown environment that contains several stages: random exploring, object gripping and object retrieving. During this process, color and shape based image processing strategies are used for object detecting and gripping, Vector Field Histogram (VFH) algorithm is used for navigation. Experiments were done using a Jackal UGV mounted with Kinect RGB-D camera and Hokuyo LiDAR. Tests under a semi-constructed field are performed, demonstrating successful object retrieval. Results are presented and analyzed.
ISSN:2152-744X
DOI:10.1109/ICMA49215.2020.9233729