Pathplanning and control of an autonomous robot vehicle with a manipulator

An autonomous mobile robot is presented. It consists of two parts: a mobile vehicle underneath a robotarm with DOF 5. These two are a nonholomic (the mobile vehicle) and a holonomic subsystem (the robotarm). To give the robot orders or tasks to accomplish this can be done from an external controlsoftware via TCP–IP to the controlsoftware of the robot. An embedded system involves chart creation, pathplanning (global, local), evaluation of sensorsignals, object– and/or marker–detection and a controlled movement. Futhermore it communicates over FIFOs with an nonrealtime–task which allows a communication via TCP–IP. Several sensors are implemented, e.g. infrared–/ ultrasonic–range sensors connected via CAN to the embedded board, as well as the control boards for each engine. A Laserscanner is installed in front of the robot to detect edges and obstacles. For marker–tracking and object recognition an USB–Webcam is added on the robotarm. For avoidance of collisions between the robotarm and the mobile robot a repeller is introduced. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)