Control framework of the ROBILAUT soil sampling robot: system overview and experimental results

IF 1.9 4区计算机科学 Q3 ROBOTICS

Robotica Pub Date : 2024-05-23 DOI:10.1017/s0263574724000857

Daniele Di Vito, Paolo Di Lillo, F. Arrichiello, Cesare Ferone, Raffaele Amico, Gianluca Antonelli

引用次数: 0

Abstract

The paper presents the control architecture of a crawler mobile robot designed and developed to sample potentially contaminated lands. The robot, developed in the framework of an Italian national project named ROBILAUT, carries a driller with a customized sampling mechanism to implement on-site the required quartering, and it is controlled to move the drilling device on specific points acquired in real time before the mission starts. The paper describes the software architecture for the navigation and control, focusing on the control framework of the robotic platform. Specifically, the robot exhibits a differential drive kinematics with actuators’ constraints, and two different control strategies have been experimentally tested for comparison both in a structured environment and in the real site in May 2023.

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土壤采样机器人 ROBILAUT 的控制框架：系统概述和实验结果

本文介绍了一种履带式移动机器人的控制结构，该机器人是为对可能受到污染的土地进行采样而设计开发的。该机器人是在一个名为 ROBILAUT 的意大利国家项目框架内开发的，它携带一个带有定制采样机制的钻孔机，可在现场实施所需的四分之一采样，并可在任务开始前受控制在实时获取的特定点上移动钻孔装置。本文介绍了导航和控制的软件架构，重点是机器人平台的控制框架。具体来说，机器人采用了带有执行器约束的差分驱动运动学，并对两种不同的控制策略进行了实验测试，以便在结构化环境和 2023 年 5 月的实际现场进行比较。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Robotica 工程技术-机器人学

CiteScore

4.50

自引率

22.20%

发文量

181

审稿时长

9.9 months

期刊介绍： Robotica is a forum for the multidisciplinary subject of robotics and encourages developments, applications and research in this important field of automation and robotics with regard to industry, health, education and economic and social aspects of relevance. Coverage includes activities in hostile environments, applications in the service and manufacturing industries, biological robotics, dynamics and kinematics involved in robot design and uses, on-line robots, robot task planning, rehabilitation robotics, sensory perception, software in the widest sense, particularly in respect of programming languages and links with CAD/CAM systems, telerobotics and various other areas. In addition, interest is focused on various Artificial Intelligence topics of theoretical and practical interest.