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my robot goes under the table autonomously

asked 2023-02-15 01:41:07 -0600

ali123 gravatar image

Hello, I have a robot, I can do things like navigation, mapping right now. Now, I want my robot to autonomously go under a table with a load on it and lift and carry the table with a lift system. I don't know how to do what to look for. The sensors I use are lidar, imu, odometry, camera. Does anyone have any ideas. Thank you.

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answered 2023-02-20 07:59:40 -0600

Fundamentally, you need to get two parts right -

  1. Localization - It is likely that your existing localization method (say AMCL) will not provide appropriate accuracy for this task. You need to use your LiDAR/Camera data to localize the robot relative to the table. This would involve some object detection algorithm to identify table's pose relative to the robot - ICP/RANSAC if you're using point cloud, an artificial marker like QR/AruCO or perhaps vision based detection based on deep learning.

  2. Controls - Once you have the above figured out, you need a precise docking controller to reach the target with lots of safety in place. If you're using nav2/move_base then out of the box TEB/DWA/DWB will not solve your problem reliably.

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I agree to this.This is exactly what you need to do.

Davies Ogunsina gravatar image Davies Ogunsina  ( 2023-02-22 18:28:29 -0600 )edit

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Asked: 2023-02-15 01:41:07 -0600

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Last updated: Feb 20 '23