Title: Path planning of mobile manipulator for navigation and object clean-up

Authors: Aaditya Asit Saraiya; Sangram Keshari Das; B.K. Rout; V. Kalaichelvi

Addresses: Birla Institute of Technology and Science, Pilani, Dubai Campus, UAE ' Center for Robotics and Intelligent Systems (CRIS), Birla Institute of Technology and Science, Pilani, Pilani Campus, Vidya-Vihar, Rajasthan, India ' Center for Robotics and Intelligent Systems (CRIS), Birla Institute of Technology and Science, Pilani, Pilani Campus, Vidya-Vihar, Rajasthan, India ' Birla Institute of Technology and Science, Pilani, Dubai Campus, UAE

Abstract: Industry and warehouses have been paying lots of attention to mobile manipulator-based path planner problems. This paper focuses on multi-target object clean-up operations using vision sensor which has ample industrial applications. In this work a vision-based path planning approach has been implemented using A* algorithm in order to avoid the obstacles and reach the goal location using the shortest path. The algorithm was developed to classify objects in the workspace as handleable/non-handleable from real-time measurements. In case of multi-object clean-up operations, a priority is set depending on the scenario and a weighted cost function approach is proposed. A series of simulation experiments are conducted to test the effectiveness of the proposed algorithm. The entire workflow of the mobile manipulation-based path planner is demonstrated using various scenarios. This problem has lot of relevance in real world.

Keywords: vision-based navigation; mobile manipulation-based path planner; object detection; A* path planning algorithm; OpenCV; ROS framework.

DOI: 10.1504/IJCVR.2023.131989

International Journal of Computational Vision and Robotics, 2023 Vol.13 No.4, pp.378 - 404

Received: 09 Mar 2021
Accepted: 14 Mar 2022
Published online: 06 Jul 2023 *

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