One of the most difficult tasks for a mobile robot is navigation. Navigation and manipulation of heterogeneous robots are becoming more important in the field of industry, defence, search and rescue, etc. This paper mainly focuses on the implementation of a multi-robot collaboration system using the robotic operating system (ROS) and Gazebo platform. The system consists of two heterogeneous robots, each with distinct capabilities that collaborate to perform an object collection and delivery task. The robots utilize the ROS framework for communication and coordination, with a finite state machine (FSM) used to control the sequential execution of tasks. The robots navigate towards the object using simultaneous localization and mapping (SLAM) and the navigation stack, with the first robot equipped with an arm performing the object manipulation and placing the object on the second robot with collecting bin. Finally, the system allows both robots to navigate towards delivery coordinates. The system is evaluated in a simulated environment and demonstrates the ability of the system to effectively perform the object collection and delivery task.
ROS-Enabled Collaborative Navigation and Manipulation with Heterogeneous Robots
SN COMPUT. SCI.
SN Computer Science ; 4 , 5
2023-06-22
Article (Journal)
Electronic Resource
English
ROS , Gazebo platform , Heterogeneous robots , Finite state machine (FSM) , Simultaneous localization and mapping Computer Science , Computer Science, general , Computer Systems Organization and Communication Networks , Software Engineering/Programming and Operating Systems , Data Structures and Information Theory , Information Systems and Communication Service , Computer Imaging, Vision, Pattern Recognition and Graphics
TIBKAT | 2022
|Motion planning for manipulation and/or navigation tasks with emphasis on humanoid robots
BASE | 2016
|Springer Verlag | 2018
|