Robust Perception System for a Last-mile Delivery Mobile Manipulator

用于最后一英里交付移动机械手的鲁棒感知系统

• 批准号: 2265099
• 金额: --
• 依托单位: University of Edinburgh
• 依托单位国家: 英国
• 项目类别: Studentship
• 财政年份: 2019
• 资助国家: 英国
• 起止时间: 2019 至 无数据
• 项目状态: 已结题
• 来源: https://gtr.ukri.org/projects?ref=studentship-2265099
• 关键词: Robust; Perception; System; Last; mile

E-commerce is a thriving industry and as the demand for online delivery keeps increasing, so too do high costs, energy expenditure, carbon emissions and congestion associated with it. Many of these negative effects are a result of the so-called "last mile", the final stretch of the delivery process. Hence the need for extra capacity and efficiency in this final stage of the delivery process. Autonomous delivery robots offer a solution as they are energy efficient and less polluting. Additionally, a robot can be reduced in size and operate on sidewalks or pedestrian walkways, contributing to less congestion on roads. A robot can also delivery at any time outside normal working hours.Developing such a system brings attention to some of the key questions in robotics research, such as perception, outdoor navigation and manipulation, all of which still have many open research questions. One particular area which has had little research focus is the perception system of a mobile robot when manipulating objects in its environment. Aim:The overall aim of the PhD is to develop a robust perception system for a mobile robot to successfully manipulate objects (mobile manipulation), which could be used in applications such as last-mile delivery. Objectives:1. Review the state-of-the-art in perception systems used for manipulators, mobile robots and mobile manipulators. 2. Outline the specification for the perception system based on the requirements for mobile manipulation for last-mile delivery.3. Develop and test the perception system for manipulation.4. Develop and test the perception system for mobility. 5. Integrate the two perception subsystems into a single perception solution for mobile manipulation.6. Test and analyze the overall perception system in a simulation environment and then in the real-world. This could involve some mock-up test on a delivery problem for example, driving up to a house and delivering a package through a letter box. Research Questions:Sensing: What are the most appropriate sensing technologies for a mobile manipulator for last-mile delivery? For example, can the robot rely on just a camera? Or will it require depth information or additional sensor modalities such as lidar or sonar?Perception: How does the robot gain an understanding of its environment in order to achieve its goal? For example, how does it detect relevant objects in a cluttered space?Grasping and Manipulation: How does the robot choose the best place to grasp an object? How does it grasp objects varying in size, shape and texture?Mobile Manipulation: How do you develop perception systems to allow for both manipulation and mobility?

电子商务是一个蓬勃发展的行业，随着在线交付的需求不断增加，与之相关的高成本、能源支出、碳排放和拥堵也在不断增加。其中许多负面影响是所谓的“最后一英里”（交付过程的最后一段）造成的。因此，在交付过程的最后阶段需要额外的容量和效率。自主送货机器人提供了一种解决方案，因为它们节能且污染少。此外，机器人的尺寸可以减小，并可以在人行道或人行道上运行，从而有助于减少道路拥堵。机器人还可以在正常工作时间之外的任何时间送货。开发这样的系统引起了人们对机器人研究中一些关键问题的关注，例如感知、户外导航和操纵，所有这些仍然有许多开放的研究问题。很少有研究重点的一个特定领域是移动机器人在其环境中操纵物体时的感知系统。目标：该博士的总体目标是为移动机器人开发一个强大的感知系统，以成功地操纵物体（移动操纵），该系统可用于最后一英里交付等应用。目标：1。回顾用于机械手、移动机器人和移动机械手的感知系统的最新技术。 2. 根据最后一公里配送的移动操控需求，概述感知系统的规范。3．开发并测试操纵感知系统。4．开发并测试移动感知系统。 5. 将两个感知子系统集成到一个用于移动操纵的感知解决方案中。 6．在模拟环境中然后在现实世界中测试和分析整个感知系统。这可能涉及对递送问题的一些模拟测试，例如，开车到一所房子并通过信箱递送包裹。研究问题：传感：最适合移动机械手进行最后一英里交付的传感技术是什么？例如，机器人可以只依靠相机吗？或者它是否需要深度信息或额外的传感器模式，例如激光雷达或声纳？感知：机器人如何了解其环境以实现其目标？例如，它如何在杂乱的空间中检测到相关物体？抓取和操纵：机器人如何选择抓取物体的最佳位置？它如何抓取不同大小、形状和纹理的物体？移动操纵：如何开发感知系统以实现操纵和移动？