RoboNav-Arm: Agentic AI-Driven Navigation and Obstacle Avoidance for Robotic Manipulator in Cluttered Environments

• URL: http://arxiv.org/abs/2607.09716v1
• Date: Thu, 25 Jun 2026 07:29:11 GMT
• Title: RoboNav-Arm: Agentic AI-Driven Navigation and Obstacle Avoidance for Robotic Manipulator in Cluttered Environments
• Abstract summary: We propose a framework for safe task execution with effective obstacle avoidance.<n>The proposed approach is evaluated in Gazebo Classic, demonstrating robustness in dynamic scenarios.
• Score: 1.1638921255130017
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Robotic manipulators operating in unstructured environments face significant challenges in safely executing goal-directed tasks due to dynamic and unforeseen obstacles, while traditional methods rely on prior knowledge or fixed perception pipelines, limiting adaptability. We propose a framework for safe task execution with effective obstacle avoidance. The environment module performs real-time obstacle detection, 3D localization, and ground surface geometry estimation. It then generates a structured semantic report that includes obstacle positions, object geometry and shape, and whether obstacles lie inside, outside, or within critical interaction zones. A central coordination module manages the overall system by handling tool invocation (e.g., memory and MoveIt collision scene updates), facilitating communication between modules, and continuously monitoring task progress until completion. Furthermore, a planning module selects an appropriate motion planning algorithm, such as RRTConnect, RRT*, or BiTRRT, based on the current environment configuration and goal requirements. The trajectory generated by the planner is further analyzed and refined to ensure safe and collision-free task execution. The proposed approach is evaluated in Gazebo Classic , demonstrating robustness in dynamic scenarios.

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