Autonomous phenotyping using a mobile manipulator
Résumé
This paper presents the use of a mobile manipulator, a robotic arm translating on a guide, to achieve autonomous data acquisition on crops in a field. The redundancy imposed by this platform is managed using a collection of concurrent control laws, weighted in real time to increase the end-effector workspace, and optimize the point of view for data acquisition. This opens the way to full mobile manipulation using an autonomous robot holding the system.