Vision-Based Cooperative Manipulation of Mobile Robots
نویسندگان
چکیده
A robot cooperative manipulation system based on visual simultaneous localization and mapping is proposed in this paper. A single camera mounted on each mobile robot is used to observe unknown environments. SURF algorithm is employed to extract features of the environment and the target object. Three-dimensional positions of the features are estimated according to the visual information. The states of the robot and matched features are updated using extended Kalman filtering to reconstruct a consistent environment map based on which path planning and robot navigation are further accomplished. To carry out cooperative manipulation tasks, a compliance control approach is adopted to avoid dropping the object and ensure completing manipulation tasks successfully.
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