A Survey of Wheeled Mobile Manipulation: A Decision-Making Perspective
A Survey of Wheeled Mobile Manipulation: A Decision-Making Perspective
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轮式移动操纵的调查：决策视角
DOI：
10.1115/1.4054611
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发表时间：
2023
期刊：
影响因子：
--
通讯作者：
Krovi, Venkat N.
中科院分区：
文献类型：
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作者：
Thakar, Shantanu;Srinivasan, Srivatsan;Al-Hussaini, Sarah;Bhatt, Prahar M.;Rajendran, Pradeep;Jung Yoon, Yeo;Dhanaraj, Neel;Malhan, Rishi K.;Schmid, Matthias;Krovi, Venkat N.
将联合收割机的基本移动性与铰接式机械手的灵巧性相结合的移动的机械手已经在从制造和基础设施检查到家庭服务的许多应用中得到普及。部署任务涵盖了一系列与操作环境的交互任务，包括最小的交互任务（如检查）和复杂的交互任务（如后勤补给和装配）。这种由冗余提供的灵活性需要仔细协调，以实现增强的性能。因此，先进的决策支持方法和框架是成功的移动的操纵（半）自主和远程操作的背景下至关重要的。鉴于文献的巨大范围，我们限制我们的注意力，特别是在轮式移动的操纵的背景下的决策支持框架。因此，在这里，我们提出了一个分类的轮式移动的操纵文献，同时考虑到其多样性。部署任务，应用程序领域和决策方法的交织进行了讨论，着眼于未来的研究途径。
Mobile manipulators that combine base mobility with the dexterity of an articulated manipulator have gained popularity in numerous applications ranging from manufacturing and infrastructure inspection to domestic service. Deployments span a range of interaction tasks with the operational environment comprising minimal interaction tasks such as inspection and complex interaction tasks such as logistics resupply and assembly. This flexibility, offered by the redundancy, needs to be carefully orchestrated to realize enhanced performance. Thus, advanced decision-support methodologies and frameworks are crucial for successful mobile manipulation in (semi-) autonomous and teleoperation contexts. Given the enormous scope of the literature, we restrict our attention to decision-support frameworks specifically in the context of wheeled mobile manipulation. Hence, here, we present a classification of wheeled mobile manipulation literature while accounting for its diversity. The intertwining of the deployment tasks, application arenas, and decision-making methodologies are discussed with an eye for future avenues for research.