University of Guelph

Purpose

Autonomous mobile manipulators are a novel class of autonomous systems that can be used in many advanced automation and manufacturing processes. Due to the high complexity of unified trajectory planning and control, current industrial solutions often decouple the autonomous platform and the attached manipulator, treating them as isolated systems. This project will focus on the development and validation of a unified multi-objective control system and trajectory planner to improve the performance and robustness of autonomous mobile manipulators for tasks such as force or visual servoing. In addition, artificial intelligence techniques will be explored for the optimization of the forward and inverse kinematic models of the autonomous mobile platform. Successful completion of this project will deliver HQP and high impact publications providing transferable knowledge directly into the autonomous mobile robotic industry and their supporting end-users within Canada.