Non-Holonomic Mobile Manipulator NMPC for Occlusion Avoidance Based on Elliptic Cone FOV Representation
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| Názov: | Non-Holonomic Mobile Manipulator NMPC for Occlusion Avoidance Based on Elliptic Cone FOV Representation |
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| Autori: | Porée, Rémi, Mujica, Martin, Tricot, Nicolas, Cadenat, V. |
| Prispievatelia: | Porée, Rémi |
| Zdroj: | 2025 European Conference on Mobile Robots (ECMR). :1-7 |
| Informácie o vydavateľovi: | IEEE, 2025. |
| Rok vydania: | 2025 |
| Predmety: | Manipulators, [INFO.INFO-SY] Computer Science [cs]/Systems and Control [cs.SY], [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Robot vision systems, Shape, [MATH.MATH-OC] Mathematics [math]/Optimization and Control [math.OC], [INFO] Computer Science [cs], Cameras, Mobile manipulator |
| Popis: | In recent years, robots have been deployed outside factories, in unstructured environments such as agricultural fields. This challenge requires the robot to operate in complex environments with people nearby. This paper studies a mobile manipulator equipped with a camera, working in vine fields alongside an agricultural worker. To perform the task, the robot must move through a cluttered environment while keeping the worker in its field of view. To this end, this paper proposes a nonlinear model predictive control (NMPC) allowing the mobile manipulator to avoid obstacles while preserving the person in the field of view. The proposed method relies on modelling the field of view of the camera as well as the obstacles in the 3D space. Several simulations of increasing difficulty are presented in which the entire system must follow the trajectory while avoiding obstacles. The results showed that the proposed approach is capable of keeping the worker in view and performing the task, even in critical cases with multiple obstacles and a moving worker. |
| Druh dokumentu: | Article Conference object |
| Popis súboru: | application/pdf |
| DOI: | 10.1109/ecmr65884.2025.11163014 |
| Prístupová URL adresa: | https://hal.science/hal-05292762v1 https://hal.science/hal-05292762v1/document https://doi.org/10.1109/ecmr65884.2025.11163014 |
| Rights: | STM Policy #29 |
| Prístupové číslo: | edsair.doi.dedup.....4bcbb93245eeaab846e2924a86ce80b0 |
| Databáza: | OpenAIRE |
Nájsť tento článok vo Web of Science | Abstrakt: | In recent years, robots have been deployed outside factories, in unstructured environments such as agricultural fields. This challenge requires the robot to operate in complex environments with people nearby. This paper studies a mobile manipulator equipped with a camera, working in vine fields alongside an agricultural worker. To perform the task, the robot must move through a cluttered environment while keeping the worker in its field of view. To this end, this paper proposes a nonlinear model predictive control (NMPC) allowing the mobile manipulator to avoid obstacles while preserving the person in the field of view. The proposed method relies on modelling the field of view of the camera as well as the obstacles in the 3D space. Several simulations of increasing difficulty are presented in which the entire system must follow the trajectory while avoiding obstacles. The results showed that the proposed approach is capable of keeping the worker in view and performing the task, even in critical cases with multiple obstacles and a moving worker. |
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| DOI: | 10.1109/ecmr65884.2025.11163014 |