STRL Robotics: Intelligent Control for Robotic Platform in Human-Oriented Environment

摘要

This article considers the problem of synthesizing the behavior of mobile robotic manipulator when solving tasks in a human-oriented environment. The architecture of the control system is presented, which integrates the modules responsible localization and mapping in an original way, planning the motion of the mobile platform between given points, controlling movement along the planned path, using object recognition on sensor data, and controlling the manipulator when interacting with recognized objects. These components are implemented for an example task of ensuring the mobility of a robotic system in a multifloor office building equipped with elevators. During the experiments, the implemented set of components allowed a real robotic system to use the elevator of an office building. The program code is published in the public domain and is available at the link https://github.com/cds-mipt/strl_robotics .