Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Collision-Free Path Planning for a Manipulator with ROS 2
University West, Department of Engineering Science.
2023 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
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.

Place, publisher, year, edition, pages
2023. , p. 80
Keywords [en]
Ros, moveit, path planning, collision avoidance, depth sensing
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:hv:diva-20809Local ID: EXC915OAI: oai:DiVA.org:hv-20809DiVA, id: diva2:1800556
Subject / course
Robotics
Educational program
Master i robotik och automation
Supervisors
Examiners
Available from: 2023-10-04 Created: 2023-09-27 Last updated: 2023-10-04Bibliographically approved

Open Access in DiVA

No full text in DiVA

By organisation
Department of Engineering Science
Other Electrical Engineering, Electronic Engineering, Information Engineering

Search outside of DiVA

GoogleGoogle Scholar

urn-nbn

Altmetric score

urn-nbn
Total: 23 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf