Mission Planning of Mobile Robots and Manipulators for Service Applications

2012 ◽  
pp. 51-77 ◽  
Author(s):  
Elias K. Xidias ◽  
Nikos A. Aspragathos ◽  
Philip N. Azariadis
Keyword(s):  
Motion Planning ◽  
Mobile Robots ◽  
Mission Planning ◽  
Service Robots ◽  
Service Robot ◽  
Indoor Environments ◽  
Mathematical Entity ◽  
Planning And Scheduling ◽  
Body Of Knowledge ◽  
Planning Approach

The purpose of this chapter is to present a mission planning approach for a service robot, which is moving and manipulating objects in semi-structured and partly known indoor environments such as stores, hospitals, and libraries. The recent advances and trends in motion planning and scheduling of mobile robots carrying manipulators are presented. This chapter adds to the existing body of knowledge of motion planning for Service Robots (SRs), an approach that is based on the Bump-Surface concept. The Bump-Surface concept is used to represent the entire robot’s environment through a single mathematical entity. Criteria and constraints for the mission planning are adapted to the service robots. Simulation examples are presented to show the effectiveness of the presented approach.

scholarly journals Mission Planning of Mobile Robots and Manipulators for Service Applications

Robotics ◽  
2013 ◽  
pp. 225-247
Author(s):  
Elias K. Xidias ◽  
Nikos A. Aspragathos ◽  
Philip N. Azariadis
Keyword(s):  
Motion Planning ◽  
Mobile Robots ◽  
Mission Planning ◽  
Service Robots ◽  
Service Robot ◽  
Indoor Environments ◽  
Mathematical Entity ◽  
Planning And Scheduling ◽  
Body Of Knowledge ◽  
Planning Approach

The purpose of this chapter is to present a mission planning approach for a service robot, which is moving and manipulating objects in semi-structured and partly known indoor environments such as stores, hospitals, and libraries. The recent advances and trends in motion planning and scheduling of mobile robots carrying manipulators are presented. This chapter adds to the existing body of knowledge of motion planning for Service Robots (SRs), an approach that is based on the Bump-Surface concept. The Bump-Surface concept is used to represent the entire robot’s environment through a single mathematical entity. Criteria and constraints for the mission planning are adapted to the service robots. Simulation examples are presented to show the effectiveness of the presented approach.

scholarly journals The PETLON Algorithm to Plan Efficiently for Task-Level-Optimal Navigation

2020 ◽  
Vol 69 ◽  
pp. 471-500
Author(s):  
Shih-Yun Lo ◽  
Shiqi Zhang ◽  
Peter Stone
Keyword(s):  
Mobile Robot ◽  
Motion Planning ◽  
Mobile Robots ◽  
Large Scale ◽  
Accurate Estimate ◽  
Indoor Environments ◽  
Task Planning ◽  
Trade Offs ◽  
High Level ◽  
Task Level

Intelligent mobile robots have recently become able to operate autonomously in large-scale indoor environments for extended periods of time. In this process, mobile robots need the capabilities of both task and motion planning. Task planning in such environments involves sequencing the robot’s high-level goals and subgoals, and typically requires reasoning about the locations of people, rooms, and objects in the environment, and their interactions to achieve a goal. One of the prerequisites for optimal task planning that is often overlooked is having an accurate estimate of the actual distance (or time) a robot needs to navigate from one location to another. State-of-the-art motion planning algorithms, though often computationally complex, are designed exactly for this purpose of finding routes through constrained spaces. In this article, we focus on integrating task and motion planning (TMP) to achieve task-level-optimal planning for robot navigation while maintaining manageable computational efficiency. To this end, we introduce TMP algorithm PETLON (Planning Efficiently for Task-Level-Optimal Navigation), including two configurations with different trade-offs over computational expenses between task and motion planning, for everyday service tasks using a mobile robot. Experiments have been conducted both in simulation and on a mobile robot using object delivery tasks in an indoor office environment. The key observation from the results is that PETLON is more efficient than a baseline approach that pre-computes motion costs of all possible navigation actions, while still producing plans that are optimal at the task level. We provide results with two different task planning paradigms in the implementation of PETLON, and offer TMP practitioners guidelines for the selection of task planners from an engineering perspective.

Automatically Annotated Mapping for Indoor Mobile Robot Applications

2012 ◽  
Author(s):  
Ali Gürcan Özkil ◽  
Thomas Howard
Keyword(s):  
Mobile Robot ◽  
Practical Method ◽  
Service Robots ◽  
Service Robot ◽  
Mobile Service ◽  
Indoor Environments ◽  
And Topology ◽  
Localization And Mapping ◽  
Indoor Mobile Robot ◽  
Mobile Service Robots

This paper presents a new and practical method for mapping and annotating indoor environments for mobile robot use. The method makes use of 2D occupancy grid maps for metric representation, and topology maps to indicate the connectivity of the ‘places-of-interests’ in the environment. Novel use of 2D visual tags allows encoding information physically at places-of-interest. Moreover, using physical characteristics of the visual tags (i.e. paper size) is exploited to recover relative poses of the tags in the environment using a simple camera. This method extends tag encoding to simultaneous localization and mapping in topology space, and fuses camera and robot pose estimations to build an automatically annotated global topo-metric map. It is developed as a framework for a hospital service robot and tested in a real hospital. Experiments show that the method is capable of producing globally consistent, automatically annotated hybrid metric-topological maps that is needed by mobile service robots.

Optimal Motion Planning Approach for Mobile Robot Navigation Problem

2015 ◽  
Vol 799-800 ◽  
pp. 1078-1082
Author(s):  
Bashra Kadhim Oleiwi ◽  
Hubert Roth ◽  
Bahaa I. Kazem
Keyword(s):  
Motion Planning ◽  
Mobile Robots ◽  
Spline Interpolation ◽  
Optimal Solution ◽  
Mobile Robot Navigation ◽  
Optimal Motion ◽  
Navigation Problem ◽  
Modified Genetic Algorithm ◽  
Planning Approach ◽  
Optimal Motion Planning

In this study, modified genetic algorithm (MGA) and A* search method (A*) is proposed for optimal motion planning of mobile robots. MGA utilizes the classical search and modified A* to establish a sub-optimal collision-free path as initial solution in simple and complex static environment. The enhancements for the proposed approach are presented in initialization stage and enhanced operators. Five objective functions are used to minimize traveling length, time, smoothness, security and trajectory and to reduce the energy consumption for mobile robots by using Cubic Spline interpolation curve fitting for optimal planned path. The purpose of this study is to evaluate the proposed approach performance by taking into consideration the effect of changing the number of iteration (it) and the size of population (pop) on its performance index. The simulation results show the effectiveness of proposed approach in governing the robot’s movements successfully from start to goal point after avoiding all obstacles its way in all tested environment. In addition, the results indicate that the proposed approach can find the optimal solution efficiently in a single run. This approach has been carried out by GUI using a popular engineering programming language, MATLAB.

Multilevel Humanlike Motion Planning for Mobile Robots in Complex Indoor Environments

2019 ◽  
Vol 16 (3) ◽  
pp. 1244-1258 ◽  
Author(s):  
Xuebo Zhang ◽  
Jiarui Wang ◽  
Yongchun Fang ◽  
Jing Yuan
Keyword(s):  
Motion Planning ◽  
Mobile Robots ◽  
Indoor Environments

Mission Design of a Team of Service Robots

2015 ◽  
pp. 728-749
Author(s):  
Elias K. Xidias ◽  
Nikos A. Aspragathos ◽  
Philip N. Azariadis
Keyword(s):  
Genetic Algorithm ◽  
Optimization Problem ◽  
Integrated Approach ◽  
Mission Design ◽  
Service Robots ◽  
Indoor Environments ◽  
Mathematical Entity ◽  
Modified Genetic Algorithm ◽  
Service Stations

The purpose of this chapter is to present an integrated approach for Mission Design of a team of Service Robots that is operating in partially known indoor environments such as libraries, hospitals, or warehouses. The robots are requested to serve a number of service stations while taking into account movement safety and other kinematical constraints. The Bump-Surface concept is used to represent the robots' environment through a single mathematical entity and an optimization problem is formulated representing an aggregation of paths length and movement constraints. Then a modified Genetic Algorithm with parallel populations is used for solving the problem of mission design of a team of service robots on the constructed Bump-Surface. Three simulation examples are presented to show the effectiveness of the presented approach.

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