Authors:
Marco Costanzo
;
Giuseppe De Maria
;
Gaetano Lettera
;
Ciro Natale
and
Salvatore Pirozzi
Affiliation:
Dipartimento di Ingegneria, Università degli Studi della Campania Luigi Vanvitelli, Via Roma 29, Aversa and Italy
Keyword(s):
Reactive Robot Control, Robot Motion Planning, Object Recognition, Obstacle Avoidance.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Robotics and Automation
;
Vision, Recognition and Reconstruction
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 col
lisions 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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