Autonomous object manipulation and transportation using a mobile service robot equipped with an RGB-D and LiDAR sensor

David de Jesús García Jiménez; Tomás Olvera; Ulises Orozco-Rosas; Kenia Picos

doi:10.1117/12.2594025

1 August 2021 Autonomous object manipulation and transportation using a mobile service robot equipped with an RGB-D and LiDAR sensor

David de Jesús García Jiménez, Tomás Olvera, Ulises Orozco-Rosas, Kenia Picos

Author Affiliations +

Proceedings Volume 11841, Optics and Photonics for Information Processing XV; 118410K (2021) https://doi.org/10.1117/12.2594025
Event: SPIE Optical Engineering + Applications, 2021, San Diego, California, United States

Abstract

This paper presents the implementation of a mobile service robot with a manipulator and a navigation stack to interact and move through an environment providing a delivery type service. The implementation uses a LiDAR sensor and an RGB-D camera to navigate and detect objects that can be picked up by the manipulator and delivered to a target location. The robot navigation stack includes mapping, localization, obstacle avoidance, and trajectory planning for robust autonomous navigation across an office environment. The manipulator uses the RGB-D camera to recognize specific objects that can be picked up. Experimental results are presented to validate the implementation and robustness.

Conference Presentation

Citation Download Citation

David de Jesús García Jiménez, Tomás Olvera, Ulises Orozco-Rosas, and Kenia Picos "Autonomous object manipulation and transportation using a mobile service robot equipped with an RGB-D and LiDAR sensor", Proc. SPIE 11841, Optics and Photonics for Information Processing XV, 118410K (1 August 2021); https://doi.org/10.1117/12.2594025

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