Environmental Recognition and Objects Manipulation for Mobile Manipulators Using Optical Communication Marks

利用目前的传感技术，移动机械手很难自主抓取物体。要实现这样的任务，最困难的部分是目标识别。为了解决这一问题，我们提出了一种利用标记来帮助机器人识别和操纵物体的光通信系统。每个带有唯一代码的标记都被贴在物体上。与标记的通信提高了对对象的属性和位置的识别能力。在这项研究中，我们构建了一个机器人与分数之间的光通信系统，并通过一个自主移动机械手进行了拾取和放置运动。

Using current sensing, technology, it is difficult for mobile manipulator to grasp an object autonomously. The most difficult part to realize such task is object recognition. To solve the problem, we propose a system of optical communication using marks that helps robot's recognition and objects manipulation. Each mark with unique code is attached on object. A communication with marks improves an ability of recognition of object's property and location. In this research, we have constructed a system of optical communication between a robot and marks, and performed a "pick and place" motion by an autonomous mobile manipulator.