DocumentCode
1947585
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
fYear
0
fDate
0-0 0
Firstpage
300
Lastpage
306
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Motion Control, 2006. 9th IEEE International Workshop on
Conference_Location
Istanbul
Print_ISBN
0-7803-9511-1
Type
conf
DOI
10.1109/AMC.2006.1631675
Filename
1631675
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