MoveIt!
MoveIt!
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DOI：
10.1109/mra.2011.2181749
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发表时间：
2012-03-01
影响因子：
5.7
通讯作者：
Cousins, Steve
中科院分区：
文献类型：
--
作者：
Chitta, Sachin;Sucan, Ioan;Cousins, Steve
机器人越来越多地在必须与人类近距离工作的领域中找到应用。工业机器人应用开始研究机器人和人类作为同事，共享任务和工作空间的可能性。在拥挤的街道和高速公路上运行的自动机器人汽车必须与行人和骑自行车的人以及其他车辆共享空间。家用机器人，特别是移动的操作系统，将面临杂乱、杂乱的环境，其中障碍物存在于每个角落，并且人们不断地进出机器人的工作空间。在人类环境中工作的机器人显然必须意识到他们的周围环境，并且必须积极尝试避免与人类和其他障碍物发生碰撞。快点！是一组与机器人操作系统（ROS）集成的软件包，专门设计用于提供此类功能，特别是用于移动的操作。快点！将允许机器人使用从三维（3-D）和其他传感器融合的数据来建立其环境的表示，生成有效且安全地在环境中移动机器人的运动计划，并在不断监视环境变化的同时执行运动计划。
Robots are increasingly finding applications in domains where they have to work in close proximity to humans. Industrial robotic applications are starting to examine the possibility of robots and humans as coworkers, sharing tasks and workspace. Autonomous robotic cars operating on crowded streets and freeways have to share space with pedestrians and cyclists in addition to other vehicles. Domestic robots, in particular mobile manipulation systems, will be confronted with cluttered, messy environments where obstacles exist at every corner, and people are continuously moving in and out of the workspace of the robots. Robots working in human environments clearly have to be aware of their surroundings and must actively attempt to avoid collisions with humans and other obstacles. MoveIt! is a set of software packages integrated with the Robot Operating System (ROS) and designed specifically to provide such capabilities, especially for mobile manipulation. MoveIt! will allow robots to build up a representation of their environment using data fused from three-dimensional (3-D) and other sensors, generate motion plans that effectively and safely move the robot around in the environment, and execute the motion plans while constantly monitoring the environment for changes.