Control system for automatic search and transportation of an object by a mobile robot with obstacle avoidance function

In this paper, using image processing and distance measurement, we develop a control system for automatic grasping and obstacle avoidance by a mobile robot. First, the mobile robot searches an object by turning until it is captured in camera image. Next, the mobile robot approaches the object. If an...

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Bibliographic Details
Published in:Artificial life and robotics 2023-02, Vol.28 (1), p.236-243
Main Authors: Matsuda, Yoshitaka, Wada, Yuya, Sugi, Takenao, Goto, Satoru, Egashira, Naruto
Format: Article
Language:English
Subjects:
Artificial Intelligence
Computation by Abstract Devices
Computer Science
Control
Control systems
Distance measurement
Image processing
Mechatronics
Obstacle avoidance
Original Article
Robot dynamics
Robotics
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Summary:In this paper, using image processing and distance measurement, we develop a control system for automatic grasping and obstacle avoidance by a mobile robot. First, the mobile robot searches an object by turning until it is captured in camera image. Next, the mobile robot approaches the object. If an obstacle exists, the mobile robot avoids the obstacle by a specific movement. After avoiding the obstacle, the mobile robot turns again to search for the object. When the mobile robot approaches the target sufficiently, it grasps or releases the object. The usefulness of the control system was verified through experiments.
ISSN:1433-5298
1614-7456
DOI:10.1007/s10015-022-00817-z