TY - GEN
T1 - A planning system for robot sampling task-based on ROS framework
AU - Wang, Weidong
AU - Cao, Wenwu
AU - Gao, Wenrui
AU - Du, Zhijiang
N1 - Funding Information:
ACKNOWLEDGMENT The work is partly supported by National Natural Science Foundation of China under Grant No. 61773141.
Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/2
Y1 - 2017/7/2
N2 - For situations like chemicals leak detection and emergency rescue of biochemical environment, this paper presents a kind of mobile manipulator for biochemical sampling tasks, and describes the application and development of robot system, comprehensively from the aspects of software structure, trajectory planning, robot sampling control strategies. At the same time, a variety of biochemical sampling instruments with both position tolerance and good sealing performance are developed, and universal planning of robot operating system architecture based on ROS is carried out. The sampling experiments show that the robot can enter the dangerous biochemical environment, reach the sample target location, and complete the sampling task. The validity, real-time and scalability of the control scheme of the mobile robot are verified by the successful sampling task experiment.
AB - For situations like chemicals leak detection and emergency rescue of biochemical environment, this paper presents a kind of mobile manipulator for biochemical sampling tasks, and describes the application and development of robot system, comprehensively from the aspects of software structure, trajectory planning, robot sampling control strategies. At the same time, a variety of biochemical sampling instruments with both position tolerance and good sealing performance are developed, and universal planning of robot operating system architecture based on ROS is carried out. The sampling experiments show that the robot can enter the dangerous biochemical environment, reach the sample target location, and complete the sampling task. The validity, real-time and scalability of the control scheme of the mobile robot are verified by the successful sampling task experiment.
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U2 - 10.1109/ICUS.2017.8278367
DO - 10.1109/ICUS.2017.8278367
M3 - Conference contribution
AN - SCOPUS:85050876523
T3 - Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017
SP - 347
EP - 352
BT - Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017
A2 - Xu, Xin
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Unmanned Systems, ICUS 2017
Y2 - 27 October 2017 through 29 October 2017
ER -