Affordance-Based Interactive Navigation Among Movable Obstacles

Jan 1, 2020


In this project, we proposed a navigation and manipulation algorithm based on the concept of affordance and trajectory optimization method, that will enable a mobile manipulator to remove unexpected obstacles on the way to destination and have the capability to decide whether to pick or push items.

Robot detects and pushes a chair off the path using optimized trajectory
Robot finds a water bottle blokcing the door, and decided to pick it up so the robot can enter the bedroom
Maozhen Wang
Maozhen Wang
PhD Student

Robotics & Cars & Games

Publications

Affordance-Based Mobile Robot Navigation Among Movable Obstacles

Avoiding obstacles in the perceived world has been the classical approach to autonomous mobile robot navigation. However, this usually …
Maozhen Wang, Rui Luo, ‪Aykut Özgün Önol and Taskin Padir
Project