Robot Autonomous Exploration System Base on Arm-Chassis Collaboration

Today, robots are finding more and more applications in areas such as industrial and agricultural production, environmental exploration, and disaster relief. To be effective in these roles, robots must be able to autonomously navigate complex and unstructured environments. Manipulative robotic arms can navigate through confined spaces and have the ability to explore diverse scenes. Therefore, the exploration of unknown environments, facilitated by the synergy between robotic arms and wheeled chassis, provides a more efficient and accurate approach. We have designed a comprehensive arm-chassis collaboration system that uses an information gain-based utility function to support exploration. By coordinating the motion of the robotic arm with the mobility of the chassis, this system efficiently performs complex exploration tasks. It enables autonomous exploration of unknown environments with reduced time and energy consumption. The code is published at: https://github.com/Southyang/Arm-Chassis.