Mobile Robot Positioning for Optimal Object Interaction

M. Westerholz

In an attempt to successfully carry out tasks with mobile robots on target objects, the choice of a suitable positioning is important. In this work, a framework which enables mobile robots to handle objects autonomously is created. One problem to be solved is to find a set of robot positions that allows to reach all operating points without affecting the stability of the robot. In addition, a suitable method has to be selected to classify objects to be handled and determine their position. The new framework should also integrate the existing solutions for 3D map creation, path planning and navigation. Finally, tests and evaluation can be carried out using the rescue robot GETjag and different objects in both simulation and real environments.