This is a domestic mobile robotic system combined with a manipulator, object recognition and SLAM technique with mobile devices to assist human in an indoor environment based on multi ROS packages and OpenCV
The project developed a mobile robotic system combined with a manipulator, image processing and motion planning with mobile devices to assist human in an indoor environment. The project utilizes a Microsoft Kinect, three microcontrollers, a mobile phone, a mobile robot base and an arm robot. Human user chooses different objects to be delivered by the robot for the human through mobile phone interface, and the device can drive the manipulator to the preset picking-up according to known map and SLAM technique, recognize the targeted object and measure the distance between the object and the manipulator in the video frame got from the Kinect according to different object classifiers. After image processing, the mobile phone sends the position information to the Raspberry Pi, and the microcontroller utilizes the inverse kinematic equation to calculate angle of each joint of the robotic arm, and finally sends this data to the Arbotix-M for transforming the angular positional information to electrical signal and controlling the action of the robot. After picking up, the robot sends the object to a preset position around the user, and the user can give the robot a command to release the object.