Object search and retrieval in indoor environment using a Mobile Manipulator

dc.contributor.authorManiruzzaman, Md.
dc.contributor.otherTartu Ülikool. Loodus- ja täppisteaduste valdkondet
dc.contributor.otherTartu Ülikool. Tehnoloogiainstituutet
dc.date.accessioned2022-07-01T10:09:28Z
dc.date.available2022-07-01T10:09:28Z
dc.date.issued2022
dc.description.abstractRobots are increasingly viewed as service agents in offices and homes. In many countries where the average population is aging, robots can be used for elderly care. This Thesis explores one such possibility using a mobile manipulator robot. Such robots have a mobile base to move from one place to another and an arm to pick and place objects. This Thesis considers a problem where the mobile manipulator needs to search for an object in an environment and bring it to some location. The optimal object search is formulated in terms of the popular traveling salesman problem (TSP) that computes the optimal sequence in which the Robot can visit all the possible locations where the object can possibly be. Prior information about the more likely locations is brought in by scaling the edge-weight of the TSP graph through the probabilities of the location. The Thesis can combine the output of TSP with navigation and manipulation planning built on top of Robot Operating Systems (ROS) to build the complete object search and retrieval pipeline. The results of the Thesis are validated both in simulation and actual hardware experiments.et
dc.identifier.urihttp://hdl.handle.net/10062/83025
dc.language.isoenget
dc.publisherTartu Ülikoolet
dc.rightsopenAccesset
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectTSPet
dc.subjectProbabilityet
dc.subjectROSet
dc.subjectMobile Manipulatoret
dc.subjectObject Searchet
dc.subjectGraspinget
dc.subjecttõenäosuset
dc.subjectmobiilne manipulaatoret
dc.subjecthaaramineet
dc.subject.othermagistritöödet
dc.titleObject search and retrieval in indoor environment using a Mobile Manipulatoret
dc.typeThesiset

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