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Mission Planning of Mobile Robots and Manipulators for Service Applications
Abstract
The purpose of this chapter is to present a mission planning approach for a service robot, which is moving and manipulating objects in semi-structured and partly known indoor environments such as stores, hospitals, and libraries. The recent advances and trends in motion planning and scheduling of mobile robots carrying manipulators are presented. This chapter adds to the existing body of knowledge of motion planning for Service Robots (SRs), an approach that is based on the Bump-Surface concept. The Bump-Surface concept is used to represent the entire robot’s environment through a single mathematical entity. Criteria and constraints for the mission planning are adapted to the service robots. Simulation examples are presented to show the effectiveness of the presented approach.
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