Autonomous robotic systems for various applications including transport, mobile manipulation, and disaster response are becoming more and more complex. Evaluating and analyzing such systems is challenging. Robotic competitions are designed to benchmark complete robotic systems on complex state-of-the-art tasks. Participants compete in defined scenarios under equal conditions. We present our UGV solution developed for the Mohamed Bin Zayed International Robotics Challenge 2020. Our hard- and software components to address the challenge tasks of wall building and fire fighting are integrated into a fully autonomous system. The robot consists of a wheeled omnidirectional base, a 6 DoF manipulator arm equipped with a magnetic gripper, a highly efficient storage system to transport box-shaped objects, and a water spraying system to fight fires. The robot perceives its environment using 3D LiDAR as well as RGB and thermal camera-based perception modules, is capable of picking box-shaped objects and constructing a pre-defined wall structure, as well as detecting and localizing heat sources in order to extinguish potential fires. A high-level planner solves the challenge tasks using the robot skills. We analyze and discuss our successful participation during the MBZIRC 2020 finals, present further experiments, and provide insights to our lessons learned.
翻译:用于各种应用的自主机器人系统,包括运输、移动操纵和灾害应对的自动机器人系统,正在变得越来越复杂。评估和分析这类系统具有挑战性。机器人竞赛旨在将完整的机器人系统基准设定为复杂的先进任务;参与者在同等条件下在特定情况下竞争。我们介绍了为穆罕默德·本·扎耶德2020年国际机器人挑战开发的UGV解决方案。我们为解决墙建和灭火的挑战任务而开发的硬软件组件被整合到一个完全自主的系统中。机器人包括一个轮式全天线基、一个装有磁控制器的6DF操纵器臂、一个高效储存系统以运输箱形物体,以及一个防火喷水系统。机器人利用3DLIDAR以及RGB和热相机感知模块看待其环境,能够选择箱形天体和预设的墙结构,以及探测和定位热源,以扑灭潜在火灾。一个高级规划员利用机器人技能解决了进一步的挑战任务。我们分析并讨论了我们在MBIRC2020年成功的实验期间的成功参与情况,我们向MBZC提供了我们的成功经验。