Flexible Motion Planning for Object Manipulation in Cluttered Scenes

Marco Costanzo, Giuseppe De Maria, Gaetano Lettera, Ciro Natale, Salvatore Pirozzi

Abstract

The work implements a new real-time flexible motion planning method used for reactive object manipulation in pick and place tasks typical of in-store logistics scenarios such as shelf replenishment of retail stores. This method uses a new hybrid pipeline to recognize and localize an object observed through a depth camera, by integrating and optimizing state of the art techniques. The proposed algorithm guarantees recognition robustness and localization accuracy. The desired object is then manipulated. The motion planner, based on the obstacles detected in the scene, plans a collision-free path towards the target pose. The planned trajectory optimizes a cost function that reflects the best solution among those available and produces natural and smooth path through a smart IK constrained solution which avoids robot unnecessary reconfigurations. A reactive control based on distributed proximity sensors is finally adopted to locally modify the planned trajectory in real time to avoid collisions with uncertain or dynamic obstacles. Experimental results in a supermarket scenario populated with cluttered obstacles demonstrate smoothness of the robot motions and reactive capabilities in a typical fetch and carry task.

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Paper Citation


in Harvard Style

Costanzo M., De Maria G., Lettera G., Natale C. and Pirozzi S. (2018). Flexible Motion Planning for Object Manipulation in Cluttered Scenes.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-321-6, pages 110-121. DOI: 10.5220/0006848701100121


in Bibtex Style

@conference{icinco18,
author={Marco Costanzo and Giuseppe De Maria and Gaetano Lettera and Ciro Natale and Salvatore Pirozzi},
title={Flexible Motion Planning for Object Manipulation in Cluttered Scenes},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2018},
pages={110-121},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006848701100121},
isbn={978-989-758-321-6},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Flexible Motion Planning for Object Manipulation in Cluttered Scenes
SN - 978-989-758-321-6
AU - Costanzo M.
AU - De Maria G.
AU - Lettera G.
AU - Natale C.
AU - Pirozzi S.
PY - 2018
SP - 110
EP - 121
DO - 10.5220/0006848701100121