论文标题
用于自主定位，抓握和精确放置建筑材料在半结构化环境中的移动操纵器
Mobile Manipulator for Autonomous Localization, Grasping and Precise Placement of Construction Material in a Semi-structured Environment
论文作者
论文摘要
移动操纵器有可能彻底改变现代农业，物流和制造业。在这项工作中，我们介绍了用于自动结构组件的地面移动操纵器的设计。拟议的系统能够在半结构化环境中自主定位，抓住，运输和部署建筑材料。为了使系统变化不变，而不是依赖外部定位系统的特殊努力。因此，提出的系统是独立的，能够在室外和室内条件下运行。最后，我们提出了通过与自主无人机合作使用航空侦察的方法来扩展车辆的感知半径。在现实情况下进行的一系列实验中，已经评估了所提出系统的性能。
Mobile manipulators have the potential to revolutionize modern agriculture, logistics and manufacturing. In this work, we present the design of a ground-based mobile manipulator for automated structure assembly. The proposed system is capable of autonomous localization, grasping, transportation and deployment of construction material in a semi-structured environment. Special effort was put into making the system invariant to lighting changes, and not reliant on external positioning systems. Therefore, the presented system is self-contained and capable of operating in outdoor and indoor conditions alike. Finally, we present means to extend the perceptive radius of the vehicle by using it in cooperation with an autonomous drone, which provides aerial reconnaissance. Performance of the proposed system has been evaluated in a series of experiments conducted in real-world conditions.
