Title :
Optimal motion planner of mobile manipulators in generalized point-to-point task
Author :
Haddad, M. ; Chettibi, T. ; Hanchi, S. ; Lehtihet, H.E.
Author_Institution :
Lab. of Structure Mechanics, E.M.P., Algiers
Abstract :
In this paper, a trajectory planning method of a mobile manipulator is presented. The problem is known to be complex in particular when dynamics is taken into account. Our approach is based on a simultaneous search for the robot path and the time evolution on this path. The whole problem is formulated in such a way that geometric and kinodynamic constraints are handled sequentially which makes more effective the use of a stochastic optimization technique
Keywords :
manipulator dynamics; mobile robots; optimisation; path planning; position control; stochastic processes; generalized point-to-point task; geometric constraints; kinodynamic constraints; manipulator dynamics; mobile manipulators; optimal motion planner; stochastic optimization technique; trajectory planning; Constraint optimization; Laboratories; Manipulator dynamics; Manufacturing; Mobile robots; Motion planning; Path planning; Robot kinematics; Stochastic processes; Trajectory;
Conference_Titel :
Advanced Motion Control, 2006. 9th IEEE International Workshop on
Conference_Location :
Istanbul
Print_ISBN :
0-7803-9511-1
DOI :
10.1109/AMC.2006.1631675
