Challenges and Solutions for Autonomous Robotic Mobile Manipulation for Outdoor Sample Collection
MetadataShow full item record
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.
This open access article is distributed under the Creative Commons license http://creativecommons.org/licenses/by/4.0/
Showing items related by title, author, creator and subject.
Jacoff, A.; Huang, H.; Virts, A.; Downs, A.; Sheh, Raymond (2012)More than 60 robot test methods are being developed by a team led by the National Institute of Standards and Technology (NIST) with the sponsorship of U.S. Department of Homeland Security (DHS). These test methods are ...
Weber, Keven (1998)Giving robots the ability to move around autonomously in various real-world environments has long been a major challenge for Artificial Intelligence. New approaches to the design and control of autonomous robots have shown ...
Wurdemann, H.; Georgiou, E.; Cui, Lei; Dai, J. (2011)This paper investigates simultaneous localization and mapping (SLAM) problem by exploiting the Microsoft Kinect™ sensor array and an autonomous mobile robot capable of self-localization. The combination of them covers the ...