DocumentCode
2106428
Title
Planning point to point paths for nonholonomic mobile manipulators
Author
Foulon, Gilles ; Fourquet, J-Yves ; Renaud, Marc
Author_Institution
Lab. d´´Autom. et d´´Anal. des Syst., CNRS, Toulouse, France
Volume
1
fYear
1998
fDate
13-17 Oct 1998
Firstpage
374
Abstract
Deals with path planning for mobile nonholonomic manipulators. The system is composed of a nonholonomic mobile platform and a simple kinematic chain holonomic arm. We propose strategies for planning paths between two points in the generalized and operational spaces. Redundancy and optimization criteria are key elements of the approach. Applications follow for a planar system in the case of point to point tasks
Keywords
mobile robots; optimisation; path planning; redundancy; redundant manipulators; nonholonomic mobile manipulators; nonholonomic mobile platform; optimization criteria; planar system; point to point paths; simple kinematic chain holonomic arm; Laboratories; Manipulators; Mechanical systems; Mobile robots; Path planning; Robot kinematics; Strategic planning; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location
Victoria, BC
Print_ISBN
0-7803-4465-0
Type
conf
DOI
10.1109/IROS.1998.724648
Filename
724648
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