A planning system for robot sampling task-based on ROS framework

Weidong Wang, Wenwu Cao, Wenrui Gao, Zhijiang Du

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017
EditorsXin Xu
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages347-352
Number of pages6
ISBN (Electronic)9781538631065
DOIs
StatePublished - Jan 31 2018
Event2017 IEEE International Conference on Unmanned Systems, ICUS 2017 - Beijing, China
Duration: Oct 27 2017Oct 29 2017

Publication series

NameProceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017
Volume2018-January

Conference

Conference2017 IEEE International Conference on Unmanned Systems, ICUS 2017
CountryChina
CityBeijing
Period10/27/1710/29/17

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All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Aerospace Engineering
  • Automotive Engineering
  • Control and Optimization

Cite this

Wang, W., Cao, W., Gao, W., & Du, Z. (2018). A planning system for robot sampling task-based on ROS framework. In X. Xu (Ed.), Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017 (pp. 347-352). (Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICUS.2017.8278367