Challenges and Solutions for Autonomous Robotic Mobile Manipulation for Outdoor Sample Collection
In refinery, petrochemical, and chemical plants, process technicians collect uncontaminated samples to be analyzed in the quality control laboratory all time and all weather. This traditionally manual operation not only exposes the process technicians to hazardous chemicals, but also imposes an econ...
| Main Authors: | , , , |
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| Format: | Journal Article |
| Published: |
2015
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| Online Access: | http://hdl.handle.net/20.500.11937/25993 |
| _version_ | 1848751860359364608 |
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| author | Cui, Lei Tan, T. Do, K. Teunissen, P. |
| author_facet | Cui, Lei Tan, T. Do, K. Teunissen, P. |
| author_sort | Cui, Lei |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | In refinery, petrochemical, and chemical plants, process technicians collect uncontaminated samples to be analyzed in the quality control laboratory all time and all weather. This traditionally manual operation not only exposes the process technicians to hazardous chemicals, but also imposes an economical burden on the management. The recent development in mobile manipulation provides an opportunity to fully automate the operation of sample collection. This paper reviewed the various challenges in sample collection in terms of navigation of the mobile platform and manipulation of the robotic arm from four aspects, namely mobile robot positioning/attitude using global navigation satellite system (GNSS), vision-based navigation and visual servoing, robotic manipulation, mobile robot path planning and control. This paper further proposed solutions to these challenges and pointed the main direction of development in mobile manipulation. |
| first_indexed | 2025-11-14T07:59:26Z |
| format | Journal Article |
| id | curtin-20.500.11937-25993 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T07:59:26Z |
| publishDate | 2015 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-259932017-09-13T15:23:29Z Challenges and Solutions for Autonomous Robotic Mobile Manipulation for Outdoor Sample Collection Cui, Lei Tan, T. Do, K. Teunissen, P. In refinery, petrochemical, and chemical plants, process technicians collect uncontaminated samples to be analyzed in the quality control laboratory all time and all weather. This traditionally manual operation not only exposes the process technicians to hazardous chemicals, but also imposes an economical burden on the management. The recent development in mobile manipulation provides an opportunity to fully automate the operation of sample collection. This paper reviewed the various challenges in sample collection in terms of navigation of the mobile platform and manipulation of the robotic arm from four aspects, namely mobile robot positioning/attitude using global navigation satellite system (GNSS), vision-based navigation and visual servoing, robotic manipulation, mobile robot path planning and control. This paper further proposed solutions to these challenges and pointed the main direction of development in mobile manipulation. 2015 Journal Article http://hdl.handle.net/20.500.11937/25993 10.11648/j.jeee.20150305.20 fulltext |
| spellingShingle | Cui, Lei Tan, T. Do, K. Teunissen, P. Challenges and Solutions for Autonomous Robotic Mobile Manipulation for Outdoor Sample Collection |
| title | Challenges and Solutions for Autonomous Robotic Mobile Manipulation for Outdoor Sample Collection |
| title_full | Challenges and Solutions for Autonomous Robotic Mobile Manipulation for Outdoor Sample Collection |
| title_fullStr | Challenges and Solutions for Autonomous Robotic Mobile Manipulation for Outdoor Sample Collection |
| title_full_unstemmed | Challenges and Solutions for Autonomous Robotic Mobile Manipulation for Outdoor Sample Collection |
| title_short | Challenges and Solutions for Autonomous Robotic Mobile Manipulation for Outdoor Sample Collection |
| title_sort | challenges and solutions for autonomous robotic mobile manipulation for outdoor sample collection |
| url | http://hdl.handle.net/20.500.11937/25993 |