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
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;
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
DOI :
10.1109/IROS.1998.724648
