Mobile Robot Manipulator System Design for Localization and Mapping in Cluttered Environments

Mobile Robot;Manipulator;System Design;SLAM;Localization and Mapping

Liu, Chia-Sungadvisor:Fidan, Baris ; affiliation1:Faculty of Engineering ; Fidan, Baris ;

University of Waterloo

关键词: Localization and Mapping;    Mobile Robot;    SLAM;    Master Thesis;    System Design;    Manipulator;   

Others  :  https://uwspace.uwaterloo.ca/bitstream/10012/13434/3/Liu_Chiasung.pdf

瑞士|英语

来源: UWSPACE Waterloo Institutional Repository

【 摘 要 】

In this thesis, a compact mobile robot has been developed to build real-time 3D mapsof hazards and cluttered environments inside damaged buildings for rescue tasks usingvisual Simultaneous Localization And Mapping (SLAM) algorithms. In order to maximizethe survey area in such environments, this mobile robot is designed with four omni-wheelsand equipped with a 6 Degree of Freedom (DOF) robotic arm carrying a stereo cameramounted on its end-effector. The aim of using this mobile articulated robotic system ismonitor different types of regions within the area of interest, ranging from wide open spacesto smaller and irregular regions behind narrow gaps.In the first part of the thesis, the robot system design is presented in detail, includingthe kinematic systems of the omni-wheeled mobile platform and the 6-DOF robotic arm,estimation of the biases in parameters of these kinematic systems, the sensors and calibration of their parameters. These parameters are important for the sensor fusion utilized inthe next part of the thesis, where two operation modes are proposed to retain the camerapose when the visual SLAM algorithms fail due to variety of the region types. In the secondpart, an integrated sensor data fusion, odometry and SLAM scheme is developed, wherethe camera poses are estimated using forward kinematic equations of the robotic arm andfused to the visual SLAM and odometry algorithms. A modified wavefront algorithm withreduced computational complexity is used to find the shortest path to reach the identifiedgoal points. Finally, a dynamic control scheme is developed for path tracking and motioncontrol of the mobile platform and the robot arm, with sub-systems in the form of PD controllers and extended Kalman filters. The overall system design is physically implementedon a prototype integrated mobile robot platform and successfully tested in real-time.