TUMsBendingUnits from TU Munich: RoboCup 2012 Logistics League Champion

详细信息    查看全文

• 作者：S?ren Jentzsch (23)
  Sebastian Riedel (23)
  Sebastian Denz (23)
  Sebastian Brunner (23)
  
• 刊名：Lecture Notes in Computer Science
• 出版年：2013
• 出版时间：2013
• 年：2013
• 卷：7500
• 期：1
• 页码：59-64
• 全文大小：690KB
• 参考文献：1. Craig, J.J.: Introduction to Robotics: Mechanics and Control, 3rd edn. Prentice Hall (2004)
  2. Eureqa, Cornell Creative Machines Lab, http://creativemachines.cornell.edu/eureqa
  3. Festo Didactic, Education and Research Robots: Robotino, http://www.festo-didactic.com/int-en/learning-systems/education-and-research-robots-robotino/
  4. Logistics League Roadmap, robocup2012.org/pdf/LL_2012_Roadmap.pdf" class="a-plus-plus"> http://www.robocup2012.org/pdf/LL_2012_Roadmap.pdf
  5. Logistics League Rulebook, http://wiki.openrobotino.org/index.php?title=Logistics_League
  6. RoboCup (2012), Sponsored Leagues: Logistics League by FESTO, robocup2012.org/comp_SponsoredFesto.php" class="a-plus-plus"> http://www.robocup2012.org/comp_SponsoredFesto.php
  7. Richard, S.: Computer Vision: Algorithms and Applications. Springer, London (2010)
  
• 作者单位：S?ren Jentzsch (23)
  Sebastian Riedel (23)
  Sebastian Denz (23)
  Sebastian Brunner (23)
  
  23. Robotics and Embedded Systems, Department of Informatics, Technische Universit?t München, Munich, Germany
  
• ISSN：1611-3349

文摘

The new RoboCup Logistics League sponsored by Festo offers a competition within a simulated industrial environment. In order to solve the logistical tasks, all three Robotinos not only have to operate autonomously in a flexible, effective and robust way on their own, they should also collaborate efficiently in order to maximize the overall outcome. In this paper, the first world champion of the Logistics League, TUMsBendingUnits from the Technical University of Munich (TUM), presents their logistical system with focus on approaches concerning robot hardware modifications, software architecture, task planning and execution, multi-robot collaboration, visual perception, motion planning and execution.