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，高成本，能源消耗，碳排放和与之相关的拥塞也是如此。这些负面影响中的许多是所谓的“最后一英里”的结果，即交付过程的最后范围。因此，在交付过程的最后阶段需要额外的容量和效率。自主交付机器人提供解决方案，因为它们是节能且污染较少的。此外，机器人的大小可以降低并在人行道或行人人行道上运行，从而减少了道路上的拥挤。机器人还可以在正常工作时间以外的任何时候交付。开发这样的系统会注意机器人研究中的一些关键问题，例如感知，户外导航和操纵，所有这些问题仍然都有许多开放的研究问题。在操纵环境中的物体时，一个没有研究重点的特定领域是移动机器人的感知系统。目的：博士的总体目的是为移动机器人成功操纵对象（移动操作）开发一个强大的感知系统，该机器人可以在最后一英里交付等应用中使用。目标：1。查看用于操纵器，移动机器人和移动操纵器的感知系统中的最新技术。 2。根据最后一英里交付的移动操作要求概述感知系统的规范。3。开发和测试操纵感知系统4。开发和测试移动性的感知系统。 5。将两个感知子系统整合到用于移动操作的单个感知解决方案中。6。在模拟环境中，然后在现实世界中测试和分析整体感知系统。例如，这可能涉及一些关于送货问题的模型测试，开车到房屋上并通过字母框交付包裹。研究问题：传感：用于最后一英里交付的移动操纵器最合适的传感技术是什么？例如，机器人可以仅依靠相机吗？还是需要深度信息或其他传感器方式，例如LiDAR或Sonar？感知：机器人如何了解其环境以实现其目标？例如，它如何在混乱的空间中检测相关对象？抓握和操纵：机器人如何选择掌握对象的最佳位置？它如何掌握大小，形状和纹理变化的对象？移动操作：您如何开发感知系统以允许操纵和移动性？