Intelligent navigation of a skid steer dual-arm mobile manipulator with dynamic center of gravity

摘要

As robotic capabilities continue to rapidly increase in the 21~(st) century, so does their potential for use in a variety of nuclear fields. From automated radiation surveys to complex neutron imaging procedures by robotic arms, researchers are continuing to find innovative ways to put robots to good use in the field. One of the most pressing applications, particularly with recent events such as the Fukushima Daiichi accident in 2011[1] and the WIPP incident in 2014[2], is the ability for remote agents to enter and perform critical tasks in high radioactivity zones dangerous to human workers. Regardless of their design or primary tasks, it is highly desirable that these agents be robust enough to successfully navigate uncertain, cluttered, and sometimes dangerous terrain such that they can return safely upon completion of the task. Some agents may also be required to complete high-effort tasks such as opening doors or moving debris, whether as their primary mission or as a necessary subtask to reach their primary mission. These agents must then be able to support and/or manipulate significant payloads, and have sufficiently large operational workspaces for successful manipulation.