ROAR Lab, Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, Singapore.
Optoelectronics Research Group, Faculty of Electrical and Electronics Engineering, Ton Duc Thang University, Ho Chi Minh City 700000, Vietnam.
Sensors (Basel). 2021 Mar 3;21(5):1745. doi: 10.3390/s21051745.
Regular washing of public pavements is necessary to ensure that the public environment is sanitary for social activities. This is a challenge for autonomous cleaning robots, as they must adapt to the environment with varying pavement widths while avoiding pedestrians. A self-reconfigurable pavement sweeping robot, named Panthera, has the mechanisms to perform reconfiguration in width to enable smooth cleaning operations, and it changes its behavior based on environment dynamics of moving pedestrians and changing pavement widths. Reconfiguration in the robot's width is possible, due to the scissor mechanism at the core of the robot's body, which is driven by a lead screw motor. Panthera will perform locomotion and reconfiguration based on perception sensors feedback control proposed while using an Red Green Blue-D (RGB-D) camera. The proposed control scheme involves publishing robot kinematic parameters for reconfiguration during locomotion. Experiments were conducted in outdoor pavements to demonstrate the autonomous reconfiguration during locomotion to avoid pedestrians while complying with varying pavements widths in a real-world scenario.
定期清洗公共人行道对于确保社交活动的公共环境卫生至关重要。这对于自主清洁机器人来说是一个挑战，因为它们必须适应具有不同人行道宽度的环境，同时避免与行人发生碰撞。一种名为 Panthera 的自重构人行道清扫机器人具有在宽度上进行重构的机制，以实现顺畅的清洁操作，并且它会根据移动行人的环境动态和不断变化的人行道宽度改变其行为。机器人宽度的重构是可能的，这要归功于机器人主体核心的剪刀机构，该机构由丝杠电机驱动。Panthera 将根据使用 Red Green Blue-D (RGB-D) 相机提出的感知传感器反馈控制来执行运动和重构。所提出的控制方案涉及在运动过程中发布机器人运动学参数以进行重构。实验在户外人行道上进行，以演示在运动过程中的自主重构，以避免与行人发生碰撞，同时在现实场景中适应不断变化的人行道宽度。
