For a mobile service robot, safe navigation is essential. To do so, the robot needs to be equipped with collision avoidance and global path planning capabilities. The target platforms considered in this paper are Acke...
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For a mobile service robot, safe navigation is essential. To do so, the robot needs to be equipped with collision avoidance and global path planning capabilities. The target platforms considered in this paper are Ackermann-driven vehicles. Hence, a planning approach which directly takes the kinematic and dynamic constraints of the vehicle into account is required. The Search-based Planning Library (SBPL) package of the Robot Operating System (ROS) provides global path planning which takes these constraints into account. However, it misses a local planner that can also make use of the Ackermann kinematic constraints for collision avoidance. A local planner is useful to take dynamic obstacles into account as early as possible. In this paper, we extend the SBPL included in ROS by a local planner, which makes use of motion primitives. We extend the ROS package and show first experimental results on Ackermann-driven vehicles.
For numerous real-world applications teleoperated unmanned guided vehicles (UGVs) can quite successfully assist a human in fulfilling her mission objectives. It is important for the specialists to get an overview of t...
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For numerous real-world applications teleoperated unmanned guided vehicles (UGVs) can quite successfully assist a human in fulfilling her mission objectives. It is important for the specialists to get an overview of the site quickly and with as intuitive means as possible. Our approach to an intuitive human-machine interface for visually teleoperating UGVs makes use of a spherical camera in combination with the Virtual Reality Head-Mounted Display (HMD) Oculus Rift. The Oculus Rift is equipped with an inertial measurement unit to track the teleoperator's head orientation. With this orientation information, the current field of view is synthesized from the panoramic image coming from the spherical camera allowing a free look for the operator. In this paper, we present the hardware setup and the software system of our free-look HMD approach on our UGV. Our approach allows for multi-view, i.e, several operators can collaborate on a given task. What is more, we augment the spherical image with heading and orientation information of the robot as well as of other viewers. Our preliminary evaluation with a number of untrained user suggests that our free-look HMD offers an intuitive multi-view human-machine interface for teleoperating UGVs.
This paper describes an improvement of Additive Manufacturing (AM) to process products with complex inner and outer geometries such as turbine blades by using a combination of AM, optical measuring techniques and robo...
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ISBN:
(纸本)9781467381840
This paper describes an improvement of Additive Manufacturing (AM) to process products with complex inner and outer geometries such as turbine blades by using a combination of AM, optical measuring techniques and robotics. One problem of AM is the rough surface caused by the layer-by-layer 3D printing with granular material, so the geometries need to be post-processed with milling techniques. To over-come this problem, we implement an inline quality control management to post-process several manufactured layers by a integrated imaging and robotic techniques, especially while the geometries are still accessible. The produced surfaces are measured by an inline stereo vision system and are compared with the real 3D CAD model data. Detected differences are translated to movements of a robot arm which then follows the contours to smoothen the surfaces with a milling tool. We show our current state on the 3D imaging, on developing the driver for the deployed robot arm and on a 3D simulation using the Robot Operating System (ROS).
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