Autonomous robot retrieval system

Samantha J. Ahern; Jenny Carter; Paul Wilson

doi:10.1109/IntelliSys.2015.7361155

Autonomous robot retrieval system

Samantha J. Ahern, Jenny Carter, Paul Wilson

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

Mobile robots are used for exploration and object manipulation in hazardous environments, but in many cases human presence is still required posing a risk to the health and safety of the human operator. In order to operate fully autonomously in a completely unknown environment a mobile robot is required to both create a map of its environment and localize itself; this is known as simultaneous localization and mapping (SLAM). SLAM is a very active area of robotics research but many robot platforms using this technique are relatively large and more sophisticated than the mobile robot featured in this work. This work proposes a small, low-cost mobile robot platform for the autonomous retrieval of an object in a completely unknown environment using OpenRatSLAM. The main contribution of this project will be the implementation of a SLAM algorithm used in conjunction with vision based object recognition on a Lego NXT mobile robot.

Original language	English
Title of host publication	IntelliSys 2015 - Proceedings of 2015 SAI Intelligent Systems Conference
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	280-282
Number of pages	3
ISBN (Electronic)	9781467376068
DOIs	https://doi.org/10.1109/IntelliSys.2015.7361155
Publication status	Published - 21 Dec 2015
Externally published	Yes
Event	Science and Information Intelligent Systems Conference - Canary Wharf, London, United Kingdom Duration: 10 Nov 2015 → 11 Nov 2015 http://saiconference.com/Conferences/IntelliSys2015 (Link to Conference Information)

Conference

Conference	Science and Information Intelligent Systems Conference
Abbreviated title	IntelliSys 2015
Country/Territory	United Kingdom
City	London
Period	10/11/15 → 11/11/15
Internet address	http://saiconference.com/Conferences/IntelliSys2015 (Link to Conference Information)

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1109/IntelliSys.2015.7361155Licence: Unspecified

Cite this

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title = "Autonomous robot retrieval system",

abstract = "Mobile robots are used for exploration and object manipulation in hazardous environments, but in many cases human presence is still required posing a risk to the health and safety of the human operator. In order to operate fully autonomously in a completely unknown environment a mobile robot is required to both create a map of its environment and localize itself; this is known as simultaneous localization and mapping (SLAM). SLAM is a very active area of robotics research but many robot platforms using this technique are relatively large and more sophisticated than the mobile robot featured in this work. This work proposes a small, low-cost mobile robot platform for the autonomous retrieval of an object in a completely unknown environment using OpenRatSLAM. The main contribution of this project will be the implementation of a SLAM algorithm used in conjunction with vision based object recognition on a Lego NXT mobile robot.",

keywords = "autonomous, mobile, object manipulation, robot, SLAM",

author = "Ahern, {Samantha J.} and Jenny Carter and Paul Wilson",

year = "2015",

month = dec,

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doi = "10.1109/IntelliSys.2015.7361155",

language = "English",

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booktitle = "IntelliSys 2015 - Proceedings of 2015 SAI Intelligent Systems Conference",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

note = "Science and Information Intelligent Systems Conference, IntelliSys 2015 ; Conference date: 10-11-2015 Through 11-11-2015",

url = "http://saiconference.com/Conferences/IntelliSys2015",

}

TY - GEN

T1 - Autonomous robot retrieval system

AU - Ahern, Samantha J.

AU - Carter, Jenny

AU - Wilson, Paul

PY - 2015/12/21

Y1 - 2015/12/21

N2 - Mobile robots are used for exploration and object manipulation in hazardous environments, but in many cases human presence is still required posing a risk to the health and safety of the human operator. In order to operate fully autonomously in a completely unknown environment a mobile robot is required to both create a map of its environment and localize itself; this is known as simultaneous localization and mapping (SLAM). SLAM is a very active area of robotics research but many robot platforms using this technique are relatively large and more sophisticated than the mobile robot featured in this work. This work proposes a small, low-cost mobile robot platform for the autonomous retrieval of an object in a completely unknown environment using OpenRatSLAM. The main contribution of this project will be the implementation of a SLAM algorithm used in conjunction with vision based object recognition on a Lego NXT mobile robot.

AB - Mobile robots are used for exploration and object manipulation in hazardous environments, but in many cases human presence is still required posing a risk to the health and safety of the human operator. In order to operate fully autonomously in a completely unknown environment a mobile robot is required to both create a map of its environment and localize itself; this is known as simultaneous localization and mapping (SLAM). SLAM is a very active area of robotics research but many robot platforms using this technique are relatively large and more sophisticated than the mobile robot featured in this work. This work proposes a small, low-cost mobile robot platform for the autonomous retrieval of an object in a completely unknown environment using OpenRatSLAM. The main contribution of this project will be the implementation of a SLAM algorithm used in conjunction with vision based object recognition on a Lego NXT mobile robot.

KW - autonomous

KW - mobile

KW - object manipulation

KW - robot

KW - SLAM

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U2 - 10.1109/IntelliSys.2015.7361155

DO - 10.1109/IntelliSys.2015.7361155

M3 - Conference contribution

AN - SCOPUS:84962676657

SP - 280

EP - 282

BT - IntelliSys 2015 - Proceedings of 2015 SAI Intelligent Systems Conference

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - Science and Information Intelligent Systems Conference

Y2 - 10 November 2015 through 11 November 2015

ER -

Autonomous robot retrieval system

Abstract

Conference

UN SDGs

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