Name
Title | ||
|---|---|---|
Neuro-fuzzy and model-based motion control for mobile manipulator among dynamic obstacles |
Abstract | ||
|---|---|---|
This paper focuses on autonomous motion control of a nonholonomic platform with a robotic arm, which is called mobile manipulator.
It serves in transportation of loads in imperfectly known industrial environments with unknown dynamic obstacles. A union
of both procedures is used to solve the general problems of collision-free motion. The problem of collision-free motion for
mobile manipulators has been approached from two directions, Planning and Reactive Control. The dynamic path planning can
be used to solve the problem of locomotion of mobile platform, and reactive approaches can be employed to solve the motion
planning of the arm. The execution can generate the commands for the servo-systems of the robot so as to follow a given nominal
trajectory while reacting in real-time to unexpected events. The execution can be designed as an Adaptive Fuzzy Neural Controller.
In real world systems, sensor-based motion control becomes essential to deal with model uncertainties and unexpected obstacles. |
Year | DOI | Venue |
|---|---|---|
2003 | 10.1360/03yf9002 | Science in China Series F: Information Sciences |
Keywords | DocType | Volume |
autonomous mobile manipulators,dynamic obstacle avoidance,model and sen- sor-based control,nonholonomic and redundant systems.,dynamic path planning,neuro-fuzzy controller | Journal | 46 |
Issue | ISSN | Citations |
1 | 1862-2836 | 3 |
PageRank | References | Authors |
0.48 | 7 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Wu Wei | 1 | 3 | 0.48 |
| Jean Bosco Mbede | 2 | 66 | 7.50 |
| Xinhan Huang | 3 | 114 | 19.04 |
| Zhang Yi | 4 | 261 | 43.00 |