Online Tracking Navigation of a Mobile Robot

1. Proposed PhD Research Online Tracking Navigation of a Mobile Robot in Industrial Environment Alaa Hasan Shibeeb

2. Outline Introduction Research Objective Research Challenges Proposed Research Contributions

3. Introduction • Mobile robots are entering new territory: • Distribution centers • Factory floors • Laboratories

4. Introduction Mobile robot = combine vehicles with robotic arms to create mobile manipulators Mobile robot platform coupled with a dual-arm

5. Introduction Autonomous vehicles can be equipped with robotic arms, e.g., welding robots mounted on autonomous vehicles instead of bolted to the factory floor

6. Introduction • Goal • Reaching a destination. • Following a trajectory. • Task • Identifying the current location. • Avoiding any collisions. • Determining a path.

7. Research Challenges The main Research Challenges in mobile Robot Navigation: • Navigating a mobile robot need to operate with high accuracy. Their behavior needs to be predictable and closely match planned motions. • Anticipatory behavior like smooth deceleration when approaching people or narrow passages. • The behavior should ensure fast travel time to be efficient enough and react to changes in the environment.

8. Research Objective Develop a system for accurate, efficient and safe navigation in industrial environments, by optimization a trajectories for travel time while taking into account platform and safety constraints.

9. Proposed Research Contributions Accurate and efficient navigation High accuracy localization and docking Predefined routes through user demonstrations Teach-and-repeat navigation without a pre-built map