Online motion planning based on swept volume search with replanning using sequential quadratic programming
This paper describes a method for obtaining a mobile manipulator's motion sequence by indicating a goal-hand pose. The proposed method entails recording various robot motions as a large number of motion sequences and associated swept volumes (SVs) and then selecting the most appropriate SV for...
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Published in | Advanced robotics Vol. 37; no. 12; pp. 737 - 750 |
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Main Authors | , , , , |
Format | Journal Article |
Language | English |
Published |
Taylor & Francis
18.06.2023
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Subjects | |
Online Access | Get full text |
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Summary: | This paper describes a method for obtaining a mobile manipulator's motion sequence by indicating a goal-hand pose. The proposed method entails recording various robot motions as a large number of motion sequences and associated swept volumes (SVs) and then selecting the most appropriate SV for the current situation. In addition, the motion sequences can be altered while the robot is in motion, and the transition motion is generated using sequential quadratic programming, enabling the robot to avoid collisions with obstacles found after it has begun to move. The proposed method's performance is verified by simulation to confirm the appropriate amount of data and the method's superiority. |
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ISSN: | 0169-1864 1568-5535 |
DOI: | 10.1080/01691864.2023.2210207 |