System integration: Application towards autonomous navigation in cluttered environments

摘要

This paper presents the hardware-software system integration of an intelligent mobile robot for efficient navigation tasks in cluttered indoor environments. An omnidirectional robotic platform with communication over EtherCAT fieldbus is built to achieve fast control and feedback response. The software part builds upon our recently developed rapid path-finding and motion planning strategy in cluttered environments containing narrow passages and 3D moving obstacle avoidance strategy. The integrated system delivers an intelligent robotic platform furnished by omnidirectional mobility and fast motion planning libraries which are advantageous for operation in complex scenarios. Simulation and experimental results show the platform's capabilities not only as a stand-alone robot to perform autonomous navigation tasks but also ready for instant integration with robotic manipulators to perform manipulation tasks.