Proceedings of the Second International Conference on Emerging Trends in Engineering (ICETE 2023)

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ROS Based Autonomous Mobile Manipulator Robot

Authors
B. M. Sufiyan Ali1, *, Syeda Mehvish Anwar1, M. A. Razaq Khan1, Kaleem Fatima1
1Department of Electronics & Communication Engineering, Muffakham Jah College of Engineering & Technology, Osmania University, Hyderabad, India
*Corresponding author. Email: sufiyanali160401@gmail.com
Corresponding Author
B. M. Sufiyan Ali
Available Online 9 November 2023.
DOI
10.2991/978-94-6463-252-1_78How to use a DOI?
Keywords
Autonomous mobile manipulator robot; ROS; SLAM; LiDAR; Depth camera; navigation
Abstract

This paper presents the implementation of an autonomous mobile manipulator robot using Robot Operating System (ROS) as middleware. Jetson nano 2GB is utilized as the onboard computer which runs Ubuntu 18.04 OS in which ROS is installed. ROS navigation stack is setup and configured for the robot navigation. The system utilizes 2D LiDAR to perform navigation with obstacle avoidance. A depth camera is used for extracting the coordinates of the object and MoveIt motion planning framework employs as the manipulation platform to initialize the pick and place operations of the 5 DoF robotic arm mounted on the mobile base. Multiple experiments were conducted to examine usability in order to assess performance. Our experiment results show that the robot can detect and pick an object and navigate to a given destination by avoiding obstacles and place it on the desired location.

Copyright
© 2023 The Author(s)
Open Access
Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

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Volume Title
Proceedings of the Second International Conference on Emerging Trends in Engineering (ICETE 2023)
Series
Advances in Engineering Research
Publication Date
9 November 2023
ISBN
10.2991/978-94-6463-252-1_78
ISSN
2352-5401
DOI
10.2991/978-94-6463-252-1_78How to use a DOI?
Copyright
© 2023 The Author(s)
Open Access
Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

Cite this article

risenwbib
TY  - CONF
AU  - B. M. Sufiyan Ali
AU  - Syeda Mehvish Anwar
AU  - M. A. Razaq Khan
AU  - Kaleem Fatima
PY  - 2023
DA  - 2023/11/09
TI  - ROS Based Autonomous Mobile Manipulator Robot
BT  - Proceedings of the Second International Conference on Emerging Trends in Engineering (ICETE 2023)
PB  - Atlantis Press
SP  - 780
EP  - 789
SN  - 2352-5401
UR  - https://doi.org/10.2991/978-94-6463-252-1_78
DO  - 10.2991/978-94-6463-252-1_78
ID  - SufiyanAli2023
ER  -