Cart Pushing with a Mobile Manipulation System: Towards Navigation with Moveable Objects

摘要：

Robust navigation in cluttered environments has been well addressed for mobile robotic platforms, but the problem of navigating with a moveable object like a cart has not been widely examined. In this work, we present a planning and control approach to navigation of a humanoid robot while pushing a cart. We show how immediate information about the environment can be integrated into this approach to achieve safer navigation in the presence of dynamic obstacles. We demonstrate the robustness of our approach through longrunning experiments with the PR2 mobile manipulation robot in a typical indoor office environment, where the robot faced narrow and high-traffic passageways with very limited clearance.

作者: Jonathan Scholz Sachin Chitta Bhaskara Marthi Maxim Likhachev

作者单位: Interactive Computing,Georgia Institute of Technology,801 Atlantic Drive,Atlanta,GA 30332 Willow Garage Inc.,68 Willow Rd,. Menlo Park,CA 94025 Research Scientist at Willow Garage Inc.,68 Willow Rd,. Menlo Park,CA 94025 Robotics Institute,Carnegie Mellon University,Pittsburgh,PA

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 6115-6120

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）