Vision-based Obstacle Removal System for Autonomous Ground Vehicles Using a Robotic Arm

摘要: Over the past few years, use of camera-equipped robotic platforms for data collection and visually monitoring applications has exponentially grown. Cluttered construction sites with many objects (e.g., bricks, pipes, etc.) on ground are challenging environments a mobile unmanned vehicle (UGV) to navigate. To address this issue, study presents UGV equipped stereo camera arm that can remove obstacles along UGV's path. achieve objective, surrounding environment is captured by detected. The obstacle's relative location sent module through Robot Operating System (ROS). Then, picks up removes obstacle. proposed method will greatly enhance degree automation frequency monitoring. system validated two case studies. results successfully demonstrate detection removal obstacles, serving as one enabling factors developing an autonomous various operating applications.