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Control system for automatic search and transportation of an object by a mobile robot with obstacle avoidance function

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Abstract

In this paper, using image processing and distance measurement, we develop a control system for automatic gras** and obstacle avoidance by a mobile robot. First, the mobile robot searches an object by turning until it is captured in camera image. Next, the mobile robot approaches the object. If an obstacle exists, the mobile robot avoids the obstacle by a specific movement. After avoiding the obstacle, the mobile robot turns again to search for the object. When the mobile robot approaches the target sufficiently, it grasps or releases the object. The usefulness of the control system was verified through experiments.

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Authors and Affiliations

  1. Institute of Ocean Energy, Saga University, 1 Honjo-machi, Saga, 840-8502, Japan

    Yoshitaka Matsuda

  2. Department of Advanced Health Sciences, Graduate School of Advanced Health Sciences, Saga University, 1 Honjo-machi, Saga, 840-8502, Japan

    Yuya Wada

  3. Department of Electrical and Electronic Engineering, Faculty of Science and Engineering, Saga University, 1 Honjo-machi, Saga, 840-8502, Japan

    Takenao Sugi & Satoru Goto

  4. Department of Control and Information Systems Engineering, National Institute of Technology, Kurume College, 1-1-1 Komorino, Kurume, Fukuoka, 830-8555, Japan

    Naruto Egashira

Authors
  1. Yoshitaka Matsuda
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  2. Yuya Wada
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  3. Takenao Sugi
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  4. Satoru Goto
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  5. Naruto Egashira
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Correspondence to Yoshitaka Matsuda.

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Matsuda, Y., Wada, Y., Sugi, T. et al. Control system for automatic search and transportation of an object by a mobile robot with obstacle avoidance function. Artif Life Robotics 28, 236–243 (2023). https://doi.org/10.1007/s10015-022-00817-z

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  • DOI: https://doi.org/10.1007/s10015-022-00817-z

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