Kinect-based collision-free path planning for mobile manipulators

Abstract

The objective of this project is to generate, in off-line, a path (trajectory) without collision for a mobile base (mobile base with an arm) in an indoor environment which is complex dynamic and cluttered with obstacles the case of reaching tasks. The generated free path must joint an initial situation of the robot base, (XB, YB, ZB) init , to a predefined final position, (XB, YB, ZB) End . In order to move the form an initial situation to the final goal while avoiding any obstacles (using a technique of soft-computing), the robot will operate a kinect camera. The implementation and validation will be performed on the mobile manipulator RobuTer/ULM available at the DPR CDTA.