Autonomous object manipulation and transportation using a mobile service robot equipped with an RGB-D and LiDAR sensor

Abstract

This paper presents the implementation of a mobile service robot with a manipulator and a navigation stack to interact and move through an environment providing a delivery type service. The implementation uses a LiDAR sensor and an RGB-D camera to navigate and detect objects that can be picked up by the manipulator and delivered to a target location. The robot navigation stack includes mapping, localization, obstacle avoidance, and trajectory planning for robust autonomous navigation across an office environment. The manipulator uses the RGB-D camera to recognize specific objects that can be picked up. Experimental results are presented to validate the implementation and robustness.