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Collision-Free Path Planning for a Manipulator with ROS 2
Högskolan Väst, Institutionen för ingenjörsvetenskap.
2023 (engelsk)Independent thesis Advanced level (degree of Master (Two Years)), 20 poäng / 30 hpOppgave
Abstract [en]

This work presents an overview of how a manipulator can perform collision-freepath planning with ROS 2 Humble Hawksbill and the motion planning frameworkMoveIt.This is demonstrated by integrating a time-of-flight camera, a MicrosoftAzure Kinect DK with a UR10e manipulator, after collecting and comparing depthdata with two different depth sensors: The passive stereoscopic camera LuxonisOAK-D-lite and the active stereoscopic camera Intel RealSense D435i. Then, acollision object is created by first designating the depth data from the point cloudcreated from the Azure Kinect DK as dynamic collision object through an OctoMapgenerated by RTAB-Map. Afterwards, creating a static collision object by publishinga voxelized 3D object file to ROS is explored through a Python launch file and C++ROS nodes. Lastly, eleven path planning algorithms from OMPL available in theUR10e MoveIt configuration and performance handling through benchmarking isintroduced.

sted, utgiver, år, opplag, sider
2023. , s. 80
Emneord [en]
Ros, moveit, path planning, collision avoidance, depth sensing
HSV kategori
Identifikatorer
URN: urn:nbn:se:hv:diva-20809Lokal ID: EXC915OAI: oai:DiVA.org:hv-20809DiVA, id: diva2:1800556
Fag / kurs
Robotics
Utdanningsprogram
Master i robotik och automation
Veileder
Examiner
Tilgjengelig fra: 2023-10-04 Laget: 2023-09-27 Sist oppdatert: 2023-10-04bibliografisk kontrollert

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