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    Challenges and Solutions for Autonomous Robotic Mobile Manipulation for Outdoor Sample Collection

    240026_240026.pdf (576.8Kb)
    Access Status
    Open access
    Authors
    Cui, Lei
    Tan, T.
    Do, K.
    Teunissen, P.
    Date
    2015
    Type
    Journal Article
    
    Metadata
    Show full item record
    Citation
    Cui, L. and Tan, T. and Do, K. and Teunissen, P. 2015. Challenges and Solutions for Autonomous Robotic Mobile Manipulation for Outdoor Sample Collection. Journal of Electrical and Electronic Engineering. 3 (5): pp. 156-164.
    Source Title
    Journal of Electrical and Electronic Engineering
    DOI
    10.11648/j.jeee.20150305.20
    School
    Department of Mechanical Engineering
    Remarks

    This open access article is distributed under the Creative Commons license http://creativecommons.org/licenses/by/4.0/

    URI
    http://hdl.handle.net/20.500.11937/25993
    Collection
    • Curtin Research Publications
    Abstract

    In refinery, petrochemical, and chemical plants, process technicians collect uncontaminated samples to be analyzed in the quality control laboratory all time and all weather. This traditionally manual operation not only exposes the process technicians to hazardous chemicals, but also imposes an economical burden on the management. The recent development in mobile manipulation provides an opportunity to fully automate the operation of sample collection. This paper reviewed the various challenges in sample collection in terms of navigation of the mobile platform and manipulation of the robotic arm from four aspects, namely mobile robot positioning/attitude using global navigation satellite system (GNSS), vision-based navigation and visual servoing, robotic manipulation, mobile robot path planning and control. This paper further proposed solutions to these challenges and pointed the main direction of development in mobile manipulation.

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