Name
Abstract | ||
|---|---|---|
This paper addresses a constrained motion planning problem for mobile manipulators. The constraints are included into the system model by means of a sort of penalty function, and then processed in accordance with the endogenous configuration space approach. Main novelty of this paper lies in deriving a constrained Jacobian motion planning algorithm with the following features: inequality constraints are included into an extended kinematics model using a smooth approximation of the plus function, the model is then regularized against singularities, and the resulting imbalance in error equations is handled as a perturbation of an exponentially stable linear dynamic system. The operation of the constrained motion planning algorithm is illustrated by a motion planning problem of a mobile manipulator with bounds imposed on a platform variable. Performance of the algorithm is tested by computer simulations. |
Year | DOI | Venue |
|---|---|---|
2010 | 10.1109/ROBOT.2010.5509827 | ICRA |
Keywords | Field | DocType |
Jacobian matrices,asymptotic stability,linear systems,manipulator dynamics,mobile robots,path planning,constrained Jacobian motion planning algorithm,endogenous configuration space approach,error equations,exponentially stable linear dynamic system,extended kinematics model,inequality constraints,mobile manipulators,penalty function,plus function,smooth approximation | Motion planning,Mathematical optimization,Kinematics,Linear system,Jacobian matrix and determinant,Control theory,Control engineering,Mathematics,System model,Configuration space,Mobile manipulator,Penalty method | Conference |
Volume | Issue | ISSN |
2010 | 1 | 1050-4729 |
Citations | PageRank | References |
1 | 0.41 | 3 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Mariusz Janiak | 1 | 22 | 4.62 |
| Krzysztof Tchon | 2 | 52 | 13.93 |